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_t	statusword() const Raw DS402 statusword (CiA402 0x6041).
void	setDriveMode(ecdev::DriveOpMode mode) Select the cyclic operating mode (CSP / CSV / CST) this axis runs; the CiA402 profile writes 0x6060 to match.
void	resetFault() Clear a latched drive fault (one-shot).
void	moveTo(std::int32_t counts) Command an absolute target position (CSP).
void	moveAtVelocity(std::int32_t counts_per_sec) Command a target velocity (CSV).
ecdev::IMotionProfile *	motionProfile() const Escape hatch for advanced callers that need the underlying motion contract.
std::int32_t	modeDisplay() const Drive-reported modes-of-operation display (0x6061; 8=CSP, 9=CSV, 10=CST); 0 if unmapped.
bool	isFaulted() const True when the drive reports a latched fault (DS402 Fault state, statusword bit 3).
bool	isEnabled() const True when the DS402 state machine has reached Operation Enabled.
void	enable() Request the drive to power up and hold position.
void	disable() Request the drive to power down to a de-energised resting state.
std::int32_t	commandedPosition() const Last target position sent to the drive (encoder counts).
void	applyTorque(std::int32_t per_mille_rated) Command a target torque (CST).
std::int32_t	actualVelocity() const Actual velocity reported by the drive (encoder counts/s, CiA402 0x606C).
std::int32_t	actualTorque() const Drive-reported actual torque (0x6077, per-mille of rated); 0 if the profile doesn't map it.
std::int32_t	actualPosition() const Actual position reported by the drive (encoder counts, CiA402 0x6064).
	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

Raw DS402 statusword (CiA402 0x6041).

Useful for advanced diagnostics or for drives that expose manufacturer-specific bits beyond what [isEnabled()](/lxmaster/api/classes/Axis#function-isenabled) / [isFaulted()](/lxmaster/api/classes/Axis#function-isfaulted) cover. RT-safe.

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.

Parameters:

• mode The desired operating mode (DriveOpMode::Csp, Csv, or Cst).

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 (CSP).

Parameters:

• counts Target position in encoder counts (CiA402 0x607A).

Implicitly exits "hold actual" mode.

function moveAtVelocity

void moveAtVelocity(
    std::int32_t counts_per_sec
)

Command a target velocity (CSV).

Parameters:

• counts_per_sec Target velocity in encoder counts per second (CiA402 0x60FF).

Only has effect while the drive runs in CSV mode.

function motionProfile

ecdev::IMotionProfile * motionProfile() const

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

Return: The IMotionProfile backing this axis. Never null while the axis is valid.

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

True when the drive reports a latched fault (DS402 Fault state, statusword bit 3).

Call [resetFault()](/lxmaster/api/classes/Axis#function-resetfault) to clear. RT-safe.

function isEnabled

bool isEnabled() const

True when the DS402 state machine has reached Operation Enabled.

RT-safe.

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

Last target position sent to the drive (encoder counts).

Matches the most recent [moveTo()](/lxmaster/api/classes/Axis#function-moveto) argument, or the actual position at enable time when in "hold actual" mode. RT-safe.

function applyTorque

void applyTorque(
    std::int32_t per_mille_rated
)

Command a target torque (CST).

Parameters:

• per_mille_rated Target torque in per-mille of rated torque (CiA402 0x6071).

Only has effect while the drive runs in CST mode.

function actualVelocity

std::int32_t actualVelocity() const

Actual velocity reported by the drive (encoder counts/s, CiA402 0x606C).

0 if the drive does not map this object. RT-safe.

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

Actual position reported by the drive (encoder counts, CiA402 0x6064).

RT-safe.

function Axis

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

---

Updated on 2026-07-13 at 20:44:41 +0000