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Version: 1.0.13

ecfacade::Axis

High-level motion handle a PLC/application programmer uses, analogous to a TwinCAT "NC axis". More...

#include <axis.hpp>

Inherits from DeviceFacade

Public Functions​

Name
std::uint16_tstatusword() const
voidsetDriveMode(ecdev::DriveOpMode mode)
Select the cyclic operating mode (CSP / CSV / CST) this axis runs; the CiA402 profile writes 0x6060 to match.
voidresetFault()
Clear a latched drive fault (one-shot).
voidmoveTo(std::int32_t counts)
Command an absolute target position in encoder counts (CSP).
voidmoveAtVelocity(std::int32_t counts_per_sec)
Command a target velocity in encoder counts/s (CSV).
ecdev::IMotionProfile *motionProfile() const
Escape hatch for advanced callers that need the underlying motion contract.
std::int32_tmodeDisplay() const
Drive-reported modes-of-operation display (0x6061; 8=CSP, 9=CSV, 10=CST); 0 if unmapped.
boolisFaulted() const
boolisEnabled() const
voidenable()
Request the drive to power up and hold position.
voiddisable()
Request the drive to power down to a de-energised resting state.
std::int32_tcommandedPosition() const
voidapplyTorque(std::int32_t per_mille_rated)
Command a target torque in per-mille of rated torque (CST).
std::int32_tactualVelocity() const
std::int32_tactualTorque() const
Drive-reported actual torque (0x6077, per-mille of rated); 0 if the profile doesn't map it.
std::int32_tactualPosition() const
Axis(ecdev::IMotionProfile * motion, std::string name, ecdev::IEthercatDevice * device)

Detailed Description​

class ecfacade::Axis;

High-level motion handle a PLC/application programmer uses, analogous to a TwinCAT "NC axis".

An [Axis](/lxmaster/api/classes/Axis) is a thin, safe wrapper over an [ecdev::IMotionProfile](/lxmaster/api/classes/IMotionProfile). The application never sees CiA402 controlwords, PDO offsets, the ENI, or the backend: it commands positions and reads back status in engineering-relevant terms. The same [Axis](/lxmaster/api/classes/Axis) works for any drive family whose profile implements IMotionProfile, so swapping a CiA402 servo for a different drive class does not change application code.

All methods are safe to call from the application thread while the RT cycle runs (the backing profile uses lock-free state). Exception: [setDriveMode()](/lxmaster/api/classes/Axis#function-setdrivemode) and the inherited configure() must only be called between EcNetwork::prepare() and EcNetwork::start().

Public Functions Documentation​

function statusword​

std::uint16_t statusword() const

function setDriveMode​

void setDriveMode(
    ecdev::DriveOpMode mode
)

Select the cyclic operating mode (CSP / CSV / CST) this axis runs; the CiA402 profile writes 0x6060 to match.

Call before start() to choose the initial mode, or while running to switch live – a live switch takes effect only when the ENI maps 0x6060 into the RxPDO (eni_gen does this for CiA402 drives). RT-safe.

function resetFault​

void resetFault()

Clear a latched drive fault (one-shot).

function moveTo​

void moveTo(
    std::int32_t counts
)

Command an absolute target position in encoder counts (CSP).

function moveAtVelocity​

void moveAtVelocity(
    std::int32_t counts_per_sec
)

Command a target velocity in encoder counts/s (CSV).

function motionProfile​

ecdev::IMotionProfile * motionProfile() const

Escape hatch for advanced callers that need the underlying motion contract.

function modeDisplay​

std::int32_t modeDisplay() const

Drive-reported modes-of-operation display (0x6061; 8=CSP, 9=CSV, 10=CST); 0 if unmapped.

function isFaulted​

bool isFaulted() const

function isEnabled​

bool isEnabled() const

function enable​

void enable()

Request the drive to power up and hold position.

function disable​

void disable()

Request the drive to power down to a de-energised resting state.

function commandedPosition​

std::int32_t commandedPosition() const

function applyTorque​

void applyTorque(
    std::int32_t per_mille_rated
)

Command a target torque in per-mille of rated torque (CST).

function actualVelocity​

std::int32_t actualVelocity() const

function actualTorque​

std::int32_t actualTorque() const

Drive-reported actual torque (0x6077, per-mille of rated); 0 if the profile doesn't map it.

function actualPosition​

std::int32_t actualPosition() const

function Axis​

Axis(
    ecdev::IMotionProfile * motion,
    std::string name,
    ecdev::IEthercatDevice * device
)

Updated on 2026-07-04 at 22:59:44 +0000