Cia402Drive Class Reference

#include <cia402_drive.h>

Public Types
enum class	OpMode {   kTuning = -128 , kOpenLoopFieldMode = -3 , kDiagnostics = -2 , kCoggingCompensationRecording = -1 ,   kNo = 0 , kPp , kVel , kPv ,   kPt , kRes , kHom , kIp ,   kCsp , kCsv , kCst }
enum class	Cia402State {   kNotReady = 0 , kSwitchOnDisabled , kReadySwitchOn , kSwitchedOn ,   kOpEnabled , kQuickStopActive , kFaultReactionActive , kFault }
enum class	Cia402Command {   kNone = 0 , kShutdown , kSwitchOn , kDisableVoltage ,   kQuickStop , kDisableOperation , kEnableOperation , kFaultReset }
enum class	EncoderFunction {   kDisabled , kCommutationAndMotionControlFeedback , kCommutationAndMonitoring , kMotionControlFeedbackOnly ,   kMonitoringOnly , kCommutationOnly , kPosition , kCommutationAndVelocity ,   kVelocity , kCommutationAndPosition }
enum class	EncoderType {   kNone = 0 , kHallEncoder = 1 , kQeiEncoder = 2 , kBissEncoder = 4 ,   kRem14Encoder = 5 , kRem16MtEncoder = 6 , kSsiEncoder = 7 }
enum class	BrakeStatus { kNotConfigured = 0 , kEngaged = 1 , kDisengaged = 2 }
enum class	BrakeReleaseStrategy { kManualOutputVoltage = 0 , kClutchStyleBrakeControl = 1 , kPinBrakeControl = 2 }

Public Member Functions
	Cia402Drive (VirtualDevice *virtual_device)
int32_t	get_id () const
	Get the device ID. More...
uint16_t	get_hardware_id () const
	Get the hardware ID. More...
MotionMasterError	init_position_controller ()
	Initialize the position controller. More...
MotionMasterError	init_velocity_controller ()
	Initialize the velocity controller. More...
MotionMasterError	init_torque_controller ()
	Initialize the torque controller. More...
MotionMasterError	init_slave_profile_position ()
	Initialize the position profile on the slave. More...
MotionMasterError	init_slave_profile_velocity ()
	Initialize the velocity profile on the slave. More...
MotionMasterError	init_slave_profile_torque ()
	Initialize the torque profile on the slave. More...
MotionMasterError	deinit_current_controller ()
	Deinitialize a controller. More...
bool	execute_profile_position_ramp ()
	Execute a position profile ramp on the slave. More...
void	set_halt_bit (bool value)
	Set the halt bit (up or down) in the controlword. More...
void	set_target_position (int32_t position)
	Set the target position. More...
void	set_target_velocity (int32_t velocity)
	Set the target velocity. More...
void	set_target_torque (int32_t torque)
	Set the target torque. More...
uint16_t	get_statusword ()
	Get the raw statusword. More...
int32_t	get_target_position ()
	Get the current target position. More...
int32_t	get_target_velocity ()
	Get the current target velocity. More...
int32_t	get_target_torque ()
	Get the current target torque. More...
Cia402State	get_cia402_state ()
	Get the current CiA402 state. More...
OpMode	get_op_mode ()
	Get the current OP mode. More...
int32_t	get_current_position ()
	Get the current position. More...
int32_t	get_current_velocity ()
	Get the current velocity. More...
int32_t	get_current_torque ()
	Get the current torque. More...
uint32_t	get_current_timestamp ()
	Get the current timestamp. More...
MotionMasterError	set_parameter (uint16_t index, uint8_t subindex, int32_t value)
	Set parameter value (and reload the device if requested) More...
MotionMasterError	set_parameter (uint16_t index, uint8_t subindex, int32_t value, bool reload_configuration)
	Set parameter value (and reload the device if requested) More...
MotionMasterError	set_parameter (uint16_t index, uint8_t subindex, float value)
	Set parameter value (and reload the device if requested) More...
MotionMasterError	set_parameter (uint16_t index, uint8_t subindex, float value, bool reload_configuration)
	Set parameter value (and reload the device if requested) More...
MotionMasterError	set_parameter (uint16_t index, uint8_t subindex, double value)
	Set parameter value (and reload the device if requested) More...
MotionMasterError	set_parameter (uint16_t index, uint8_t subindex, double value, bool reload_configuration)
	Set parameter value (and reload the device if requested) More...
MotionMasterError	set_parameter (uint16_t index, uint8_t subindex, const std::string &value)
	Set parameter value. More...
VirtualParameter *	get_parameter (uint16_t index, uint8_t subindex)
	Get a parameter by index/subindex. More...
MotionMasterError	reload_drive (bool ignore_fault_reset_timeout=false)
	Make the CiA402 drive reload (soft restart) More...
std::variant< MotionMasterError, std::list< std::string > >	get_file_list () const
	Get the list of available files on the flash memory. More...
std::variant< MotionMasterError, std::string >	read_file (const std::string &file_name) const
	Get the file content from a file from the flash memory. More...
MotionMasterError	write_file (const std::string &name, const std::string &content)
	Write the file to the flash memory. More...
MotionMasterError	remove_file (const std::string &file_name)
	Remove a file from the flash memory. More...
std::string	get_log ()
	Get the slave log from the flash memory. More...
std::map< uint16_t, EncoderFunction >	get_all_encoder_functions ()
	Get all encoder functions. More...
bool	set_encoder_function (uint16_t index, EncoderFunction encoder_function)
	(Re)set an encoder function based on the get_all_encoder_functions output More...
EncoderType	get_commutation_encoder_type ()
	Get the type of the encoder set as the commutation encoder. More...
uint32_t	get_commutation_encoder_resolution ()
	Find the resolution of the encoder used for commutation feedback. More...
uint32_t	get_position_control_encoder_resolution ()
	Find the resolution of the encoder used for motion feedback (function 1 or 3) More...
bool	is_gearbox_potentially_present ()
	Determine if a gearbox is potentially present depending on the encoder configuration. More...
double	get_gear_ratio ()
	Get the configured gear ratio. More...
double	get_feed_constant ()
	Get and calculate the feed constant if set. More...
bool	is_brake_engaged ()
	Check if the brake is currently engaged. More...
MotionMasterError	engage_brake (bool value)
	Apply or release the brake. More...
void	reset_torque_target_and_offset ()
void	quick_stop ()
	Request a quick stop on a device. More...
MotionMasterError	quick_stop_blocking ()
	Request an asynchronous quick stop on a device. More...
int32_t	save_current_configuration_to_flash ()
	Save the current device configuration to the flash memory. More...
int32_t	load_configuration_from_flash ()
	Load the configuration from the flash memory. More...
bool	is_running ()
	Check if the device is currently running. More...
bool	get_fault_state ()
	Get the current fault state. More...
MotionMasterError	reset_fault (bool ignore_timeout_error=false)
	Reset the current fault. More...
bool	get_warning_status ()
	Get the current warning status. More...
bool	get_internal_limit_reached ()
	Check if the internal limit reached statusword bit is active. More...
bool	is_operational ()
	Check if the device is operational. More...
MotionMasterError	state_machine_control (OpMode target_op_mode, Cia402State target_state)
	Change the device OP mode and CiA402 state. More...
MotionMasterError	state_machine_control (Cia402State target_state)
	Change the device CiA402 state. More...
std::vector< int16_t >	get_cogging_torque_compensation_data ()
	Get the cogging torque compensation values. More...
MotionMasterError	read_encoder_register (uint8_t encoder_ordinal, uint8_t address, uint8_t &value)
	Read a value from an encoder register. More...
MotionMasterError	write_encoder_register (uint8_t encoder_ordinal, uint8_t address, uint8_t value)
	Write a value into an encoder register. More...
std::tuple< uint8_t, uint8_t, uint8_t >	get_controller_encoder_sources ()
	Get the encoder used for each of the controllers. More...

Static Public Attributes
static std::map< uint8_t, uint16_t >	fw_v5_encoder_configuration_map_
static std::map< uint8_t, uint16_t >	fw_v5_encoder_feedback_map_
static std::map< std::tuple< bool, bool, bool >, EncoderFunction >	controller_to_encoder_function_map_

Member Enumeration Documentation

BrakeReleaseStrategy

enum class Cia402Drive::BrakeReleaseStrategy

strong

Enumerator
kManualOutputVoltage
kClutchStyleBrakeControl
kPinBrakeControl

BrakeStatus

enum class Cia402Drive::BrakeStatus

strong

Enumerator
kNotConfigured
kEngaged
kDisengaged

Cia402Command

enum class Cia402Drive::Cia402Command

strong

Enumerator
kNone
kShutdown
kSwitchOn
kDisableVoltage
kQuickStop
kDisableOperation
kEnableOperation
kFaultReset

Cia402State

enum class Cia402Drive::Cia402State

strong

Enumerator
kNotReady
kSwitchOnDisabled
kReadySwitchOn
kSwitchedOn
kOpEnabled
kQuickStopActive
kFaultReactionActive
kFault

EncoderFunction

enum class Cia402Drive::EncoderFunction

strong

Enumerator
kDisabled
kCommutationAndMotionControlFeedback
kCommutationAndMonitoring
kMotionControlFeedbackOnly
kMonitoringOnly
kCommutationOnly
kPosition
kCommutationAndVelocity
kVelocity
kCommutationAndPosition

EncoderType

enum class Cia402Drive::EncoderType

strong

Enumerator
kNone
kHallEncoder
kQeiEncoder
kBissEncoder
kRem14Encoder
kRem16MtEncoder
kSsiEncoder

OpMode

enum class Cia402Drive::OpMode

strong

Enumerator
kTuning
kOpenLoopFieldMode
kDiagnostics
kCoggingCompensationRecording
kNo
kPp
kVel
kPv
kPt
kRes
kHom
kIp
kCsp
kCsv
kCst

Constructor & Destructor Documentation

Cia402Drive()

Cia402Drive::Cia402Drive ( VirtualDevice *  virtual_device )

explicit

Member Function Documentation

deinit_current_controller()

MotionMasterError Cia402Drive::deinit_current_controller

(

)

Deinitialize a controller.

Returns

error if any

engage_brake()

MotionMasterError Cia402Drive::engage_brake

(

bool

value

)

Apply or release the brake.

Parameters

value

true to apply, false to release

Returns

an error if any

execute_profile_position_ramp()

bool Cia402Drive::execute_profile_position_ramp

(

)

Execute a position profile ramp on the slave.

Returns

true if successful, false otherwise

get_all_encoder_functions()

std::map< uint16_t, Cia402Drive::EncoderFunction > Cia402Drive::get_all_encoder_functions

(

)

Get all encoder functions.

IMPORTANT NOTE: For firmwares < v5, the map contains the parameter indexes of the encoder configurations in the object dictionary, but for firmwares >= v5 (including the calibration firmwares > v0.3.7), the map contains the indexes of the encoders (1 or 2)

Returns

map of all encoders with their functions

get_cia402_state()

Cia402Drive::Cia402State Cia402Drive::get_cia402_state

(

)

Get the current CiA402 state.

Returns

CiA402 state

get_cogging_torque_compensation_data()

std::vector< int16_t > Cia402Drive::get_cogging_torque_compensation_data

(

)

Get the cogging torque compensation values.

Get the contents of the cogging_torque.bin file from the flash memory as a vector of signed 16-bit integers

Returns

vector of cogging torque compensation values

Exceptions

MotionMasterError

get_commutation_encoder_resolution()

uint32_t Cia402Drive::get_commutation_encoder_resolution

(

)

Find the resolution of the encoder used for commutation feedback.

Returns

encoder resolution if success, 0 if error or no motion encoder available

get_commutation_encoder_type()

Cia402Drive::EncoderType Cia402Drive::get_commutation_encoder_type

(

)

Get the type of the encoder set as the commutation encoder.

Returns

encoder type

Exceptions

MotionMasterError(Error::kEncoderNoCommutationEncoder)

get_controller_encoder_sources()

std::tuple< uint8_t, uint8_t, uint8_t > Cia402Drive::get_controller_encoder_sources

(

)

Get the encoder used for each of the controllers.

Controllers: position, velocity, torque (in that order)

Returns

the encoders used for each of the controllers

get_current_position()

int32_t Cia402Drive::get_current_position

(

)

Get the current position.

Returns

position

get_current_timestamp()

uint32_t Cia402Drive::get_current_timestamp

(

)

Get the current timestamp.

Returns

timestamp

get_current_torque()

int32_t Cia402Drive::get_current_torque

(

)

Get the current torque.

Returns

torque

get_current_velocity()

int32_t Cia402Drive::get_current_velocity

(

)

Get the current velocity.

Returns

velocity

get_fault_state()

bool Cia402Drive::get_fault_state

(

)

Get the current fault state.

Returns

true if the device is in fault state, false otherwise

get_feed_constant()

double Cia402Drive::get_feed_constant

(

)

Get and calculate the feed constant if set.

Returns

feed constant

get_file_list()

std::variant< MotionMasterError, std::list< std::string > > Cia402Drive::get_file_list

(

)

const

Get the list of available files on the flash memory.

Returns

a MotionMasterError or a list of file names

get_gear_ratio()

double Cia402Drive::get_gear_ratio

(

)

Get the configured gear ratio.

IMPORTANT: Only gets the configured gear ratio, but doesn't guarantee its correctness.

Returns

zero if it cannot be found, positive value otherwise

get_hardware_id()

uint16_t Cia402Drive::get_hardware_id

(

)

const

Get the hardware ID.

Returns

the hardware ID

get_id()

int32_t Cia402Drive::get_id

(

)

const

Get the device ID.

Returns

the device ID

get_internal_limit_reached()

bool Cia402Drive::get_internal_limit_reached

(

)

Check if the internal limit reached statusword bit is active.

Returns

true if the internal limit reached statusword bit is active, false otherwise

get_log()

std::string Cia402Drive::get_log

(

)

Get the slave log from the flash memory.

Returns

slave log as string

get_op_mode()

Cia402Drive::OpMode Cia402Drive::get_op_mode

(

)

Get the current OP mode.

Returns

OP mode

get_parameter()

VirtualParameter * Cia402Drive::get_parameter	(	uint16_t	index,
		uint8_t	subindex
	)

Get a parameter by index/subindex.

Parameters

index
subindex

Returns

a pointer to the parameter if available, of nullptr if not

get_position_control_encoder_resolution()

uint32_t Cia402Drive::get_position_control_encoder_resolution

(

)

Find the resolution of the encoder used for motion feedback (function 1 or 3)

Returns

encoder resolution if success, 0 if error or no motion encoder available

get_statusword()

uint16_t Cia402Drive::get_statusword

(

)

Get the raw statusword.

Returns

statusword

get_target_position()

int32_t Cia402Drive::get_target_position

(

)

Get the current target position.

Returns

the current target position

get_target_torque()

int32_t Cia402Drive::get_target_torque

(

)

Get the current target torque.

Returns

the current target torque

get_target_velocity()

int32_t Cia402Drive::get_target_velocity

(

)

Get the current target velocity.

Returns

the current target velocity

get_warning_status()

bool Cia402Drive::get_warning_status

(

)

Get the current warning status.

Returns

true if the device has an active warning, false otherwise

init_position_controller()

MotionMasterError Cia402Drive::init_position_controller

(

)

Initialize the position controller.

Returns

error if any

init_slave_profile_position()

MotionMasterError Cia402Drive::init_slave_profile_position

(

)

Initialize the position profile on the slave.

Returns

MotionMasterError

init_slave_profile_torque()

MotionMasterError Cia402Drive::init_slave_profile_torque

(

)

Initialize the torque profile on the slave.

Returns

MotionMasterError

init_slave_profile_velocity()

MotionMasterError Cia402Drive::init_slave_profile_velocity

(

)

Initialize the velocity profile on the slave.

Returns

MotionMasterError

init_torque_controller()

MotionMasterError Cia402Drive::init_torque_controller

(

)

Initialize the torque controller.

Returns

error if any

init_velocity_controller()

MotionMasterError Cia402Drive::init_velocity_controller

(

)

Initialize the velocity controller.

Returns

error if any

is_brake_engaged()

bool Cia402Drive::is_brake_engaged

(

)

Check if the brake is currently engaged.

Returns

true if the brake is engaged, false if not

Exceptions

MotionMasterError(Error::kBrakeGetFailed)

is_gearbox_potentially_present()

bool Cia402Drive::is_gearbox_potentially_present

(

)

Determine if a gearbox is potentially present depending on the encoder configuration.

IMPORTANT: If the encoder configuration is not correct, this function will not produce the correct result. Get gear ratio to get more precise information about the presence of a gearbox.

Returns

true if a gearbox is potentially present, false otherwise

is_operational()

bool Cia402Drive::is_operational

(

)

Check if the device is operational.

Checks if the device is in CiA402 operation enabled state

Returns

true if operational, false otherwise

is_running()

bool Cia402Drive::is_running

(

)

Check if the device is currently running.

Returns

true if running, false otherwise

load_configuration_from_flash()

int32_t Cia402Drive::load_configuration_from_flash

(

)

Load the configuration from the flash memory.

Returns

zero if successful, non-zero otherwise

quick_stop()

void Cia402Drive::quick_stop

(

)

Request a quick stop on a device.

quick_stop_blocking()

MotionMasterError Cia402Drive::quick_stop_blocking

(

)

Request an asynchronous quick stop on a device.

Returns

an error if any

read_encoder_register()

MotionMasterError Cia402Drive::read_encoder_register	(	uint8_t	encoder_ordinal,
		uint8_t	address,
		uint8_t &	value
	)

Read a value from an encoder register.

Parameters

encoder_ordinal	ordinal of the used encoder
address	register address
value	output value

Returns

an error if any

read_file()

std::variant< MotionMasterError, std::string > Cia402Drive::read_file

(

const std::string &

file_name

)

const

Get the file content from a file from the flash memory.

Parameters

file_name

name of the file in the flash memory

Returns

a MotionMasterError, or file content

reload_drive()

MotionMasterError Cia402Drive::reload_drive

(

bool

ignore_fault_reset_timeout = false

)

Make the CiA402 drive reload (soft restart)

This function transitions the drive into the "switch on disabled" and then to the "ready to switch on" state, in order to do a (soft) reset of the drive. This function can be used in order to make the drive to actually use the set configuration. It can also be used to reset a fault straight away.

Parameters

ignore_fault_reset_timeout

Returns

error if any

remove_file()

MotionMasterError Cia402Drive::remove_file

(

const std::string &

file_name

)

Remove a file from the flash memory.

Parameters

file_name

name of the file in the flash memory

Returns

error

reset_fault()

MotionMasterError Cia402Drive::reset_fault

(

bool

ignore_timeout_error = false

)

Reset the current fault.

Parameters

ignore_timeout_error

Returns

MotionMasterError

reset_torque_target_and_offset()

void Cia402Drive::reset_torque_target_and_offset

(

)

save_current_configuration_to_flash()

int32_t Cia402Drive::save_current_configuration_to_flash

(

)

Save the current device configuration to the flash memory.

Returns

zero if successful, non-zero otherwise

set_encoder_function()

bool Cia402Drive::set_encoder_function	(	uint16_t	index,
		EncoderFunction	encoder_function
	)

(Re)set an encoder function based on the get_all_encoder_functions output

Parameters

index	index of the encoder
encoder_function	encoder function to set

Returns

true if successful, false otherwise

set_halt_bit()

void Cia402Drive::set_halt_bit

(

bool

value

)

Set the halt bit (up or down) in the controlword.

Parameters

value

true for up, false for down

set_parameter() [1/7]

MotionMasterError Cia402Drive::set_parameter	(	uint16_t	index,
		uint8_t	subindex,
		const std::string &	value
	)

Set parameter value.

Parameters

index
subindex
value

Returns

error if any

set_parameter() [2/7]

MotionMasterError Cia402Drive::set_parameter	(	uint16_t	index,
		uint8_t	subindex,
		double	value
	)

Set parameter value (and reload the device if requested)

Parameters

index
subindex
value

Returns

error if any

set_parameter() [3/7]

MotionMasterError Cia402Drive::set_parameter	(	uint16_t	index,
		uint8_t	subindex,
		double	value,
		bool	reload_configuration
	)

Set parameter value (and reload the device if requested)

Parameters

index
subindex
value
reload_configuration

Returns

error if any

set_parameter() [4/7]

MotionMasterError Cia402Drive::set_parameter	(	uint16_t	index,
		uint8_t	subindex,
		float	value
	)

Set parameter value (and reload the device if requested)

Parameters

index
subindex
value

Returns

error if any

set_parameter() [5/7]

MotionMasterError Cia402Drive::set_parameter	(	uint16_t	index,
		uint8_t	subindex,
		float	value,
		bool	reload_configuration
	)

Set parameter value (and reload the device if requested)

Parameters

index
subindex
value
reload_configuration

Returns

error if any

set_parameter() [6/7]

MotionMasterError Cia402Drive::set_parameter	(	uint16_t	index,
		uint8_t	subindex,
		int32_t	value
	)

Set parameter value (and reload the device if requested)

Parameters

index
subindex
value

Returns

error if any

set_parameter() [7/7]

MotionMasterError Cia402Drive::set_parameter	(	uint16_t	index,
		uint8_t	subindex,
		int32_t	value,
		bool	reload_configuration
	)

Set parameter value (and reload the device if requested)

Parameters

index
subindex
value
reload_configuration

Returns

error if any

set_target_position()

void Cia402Drive::set_target_position

(

int32_t

position

)

Set the target position.

Parameters

position

target position to set

set_target_torque()

void Cia402Drive::set_target_torque

(

int32_t

torque

)

Set the target torque.

Parameters

torque

target torque to set

set_target_velocity()

void Cia402Drive::set_target_velocity

(

int32_t

velocity

)

Set the target velocity.

Parameters

velocity

target velocity to set

state_machine_control() [1/2]

MotionMasterError Cia402Drive::state_machine_control

(

Cia402State

target_state

)

Change the device CiA402 state.

Parameters

target_state

Returns

error if any

Attention

Initialize position/velocity/torque target

This is a safeguard so when we switch to OP enable the motor does not move before the user sets the real target. This should only happen if the quick stop procedure is not currently active, since a user can alter the target during the quick stop active and expect that target to be applied as soon as the drive goes back to OP enabled.

state_machine_control() [2/2]

MotionMasterError Cia402Drive::state_machine_control	(	OpMode	target_op_mode,
		Cia402State	target_state
	)

Change the device OP mode and CiA402 state.

Parameters

target_op_mode
target_state

Returns

error if any

Attention

Keep the drive's "OP mode display" TxPDO and the Motion Master's "OP mode" RxPDO in sync.

Both the drive and Motion Master initially start with "OP mode display" and "OP mode" PDOs set to 0. But if Motion Master was restarted at any point and the drive wasn't, these two values can fall out of sync. In order to prevent Motion Master from sending out of sync "OP mode" values (with 0 value being the most important one, since it triggers the "invalid OP mode" warning on the drive), even if the target and current OP modes are the same, make sure to reapply the same value to the Motion Master internal OP mode RxPDO.

Attention

Initialize position/velocity/torque target

This is a safeguard so when we switch to OP enable the motor does not move before the user sets the real target. This should only happen if the quick stop procedure is not currently active, since a user can alter the target during the quick stop active and expect that target to be applied as soon as the drive goes back to OP enabled.

write_encoder_register()

MotionMasterError Cia402Drive::write_encoder_register	(	uint8_t	encoder_ordinal,
		uint8_t	address,
		uint8_t	value
	)

Write a value into an encoder register.

Parameters

encoder_ordinal	ordinal of the used encoder
address	register address
value	output value

Returns

an error if any

write_file()

MotionMasterError Cia402Drive::write_file	(	const std::string &	name,
		const std::string &	content
	)

Write the file to the flash memory.

Parameters

name	the name of the file to be written
content	the content of the file to be written

Returns

error

Member Data Documentation

controller_to_encoder_function_map_

std::map<std::tuple<bool, bool, bool>, EncoderFunction> Cia402Drive::controller_to_encoder_function_map_

inlinestatic

Initial value:

= {
          {{false, false, false}, EncoderFunction::kDisabled},
          {{false, false, true}, EncoderFunction::kCommutationOnly},
          {{false, true, false}, EncoderFunction::kVelocity},
          {{false, true, true}, EncoderFunction::kCommutationAndVelocity},
          {{true, false, false}, EncoderFunction::kPosition},
          {{true, false, true}, EncoderFunction::kCommutationAndPosition},
          {{true, true, false}, EncoderFunction::kMotionControlFeedbackOnly},
          {{true, true, true},
           EncoderFunction::kCommutationAndMotionControlFeedback}}

fw_v5_encoder_configuration_map_

std::map<uint8_t, uint16_t> Cia402Drive::fw_v5_encoder_configuration_map_

inlinestatic

Initial value:

= {
      {1, OD_INDEX_ENCODER_1_CONFIGURATION},
      {2, OD_INDEX_ENCODER_2_CONFIGURATION}}

fw_v5_encoder_feedback_map_

std::map<uint8_t, uint16_t> Cia402Drive::fw_v5_encoder_feedback_map_

inlinestatic

Initial value:

= {
      {1, OD_INDEX_ENCODER_1_FEEDBACK}, {2, OD_INDEX_ENCODER_2_FEEDBACK}}

---

The documentation for this class was generated from the following files:

• apps/motion_master/cia402_drive.h
• apps/motion_master/cia402_drive.cc