ClearCore::MotorDriver::StatusRegMotor Union Reference

Detailed Description

Register access for information about the motor's operating status. Intended for use in Step and Direction mode.

Register access for information about the motor's operating status. Intended for use in Step and Direction mode. More...

#include <MotorDriver.h>

Public Member Functions
	StatusRegMotor ()
	StatusRegMotor (uint32_t val)

Public Attributes
uint32_t	reg
struct {
uint32_t   AtTargetPosition: 1
uint32_t   StepsActive: 1
uint32_t   AtTargetVelocity: 1
uint32_t   MoveDirection: 1
uint32_t   MotorInFault: 1
uint32_t   Enabled: 1
uint32_t   PositionalMove: 1
uint32_t   HlfbState: 2
uint32_t   AlertsPresent: 1
MotorReadyStates   ReadyState: 3
uint32_t   Triggering: 1
uint32_t   InPositiveLimit: 1
uint32_t   InNegativeLimit: 1
uint32_t   InEStopSensor: 1
}	bit

Constructor & Destructor Documentation

ClearCore::MotorDriver::StatusRegMotor::StatusRegMotor ( )

inline

StatusRegMotor default constructor

ClearCore::MotorDriver::StatusRegMotor::StatusRegMotor ( uint32_t  val )

inline

StatusRegMotor constructor with initial value

Member Data Documentation

uint32_t ClearCore::MotorDriver::StatusRegMotor::AlertsPresent

Alerts Present.

Examples:

EncoderInputExamples/FollowEncoder/FollowEncoder.cpp.

uint32_t ClearCore::MotorDriver::StatusRegMotor::AtTargetPosition

TRUE if the commanded position equals the target position and the HLFB is asserted

uint32_t ClearCore::MotorDriver::StatusRegMotor::AtTargetVelocity

TRUE if the commanded velocity equals the target velocity

struct { ... } ClearCore::MotorDriver::StatusRegMotor::bit

Field access to the motor status register

Examples:

EncoderInputExamples/FollowEncoder/FollowEncoder.cpp.

uint32_t ClearCore::MotorDriver::StatusRegMotor::Enabled

TRUE if the motor's enable output is asserted AND the HLFB is NOT deasserted.

uint32_t ClearCore::MotorDriver::StatusRegMotor::HlfbState

Reflects the state of the HLFB.

uint32_t ClearCore::MotorDriver::StatusRegMotor::InEStopSensor

Reflects the state of the associated E-stop sensor connector.

uint32_t ClearCore::MotorDriver::StatusRegMotor::InNegativeLimit

Reflects the state of the associated negative limit connector.

uint32_t ClearCore::MotorDriver::StatusRegMotor::InPositiveLimit

Reflects the state of the associated positive limit connector.

uint32_t ClearCore::MotorDriver::StatusRegMotor::MotorInFault

TRUE if the HLFB is deasserted AND the enable output is asserted When set, any currently executing motion will get canceled

uint32_t ClearCore::MotorDriver::StatusRegMotor::MoveDirection

Direction of the most recent move TRUE if the last motion was in the positive direction Latches until start of new move

uint32_t ClearCore::MotorDriver::StatusRegMotor::PositionalMove

TRUE if the last commanded move was a positional move.

MotorReadyStates ClearCore::MotorDriver::StatusRegMotor::ReadyState

Motor ready state

uint32_t ClearCore::MotorDriver::StatusRegMotor::reg

Broad access to the whole register

uint32_t ClearCore::MotorDriver::StatusRegMotor::StepsActive

TRUE if the commanded velocity is nonzero

uint32_t ClearCore::MotorDriver::StatusRegMotor::Triggering

TRUE if enable trigger pulses are being sent

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The documentation for this union was generated from the following file:

• MotorDriver.h