ecdev::CiA402DriveProfile::Config

Per-instance configuration for a [CiA402DriveProfile](/lxmaster/api/classes/CiA402DriveProfile). More...

#include <cia402_drive_profile.hpp>

Public Attributes

	Name
bool	startup_fault_autoreset When a drive enters OPERATIONAL already in the Fault state (a residual fault carried over from a prior run, before this run has ever reached Operation Enabled), automatically pulse a bounded fault-reset and continue the enable sequence instead of treating it as a terminal stop.
bool	shutdown_require_switch_on_disabled When true (default), the shutdown sequence waits for the drive to reach Switch-On Disabled (or Fault) before proceeding to the AL state walk-down.
OpMode	op_mode Initial cyclic operating mode (CSP/CSV/CST).
bool	hold_actual_position When the axis is enabled and no moveTo() has been issued yet, command the drive to hold its actual position at enable time (CSP: target = actualPosition).
int	fault_reset_arm_cycles Number of RT cycles the startup fault-reset window remains active (see startup_fault_autoreset).
bool	enable_fsm When true (default) the DS402 state-machine (CiA402Fsm) runs each cyclic iteration and drives the controlword through the standard enable/disable/fault-reset sequence.
bool	auto_fault_reset_and_recover When true the FSM automatically pulses a fault-reset and returns to enabling after a mid-run trip (any fault after Operation Enabled has been reached).

Detailed Description

struct ecdev::CiA402DriveProfile::Config;

Per-instance configuration for a [CiA402DriveProfile](/lxmaster/api/classes/CiA402DriveProfile).

Passed at construction and consumed by the profile lifecycle; some fields may be overridden at runtime via [setOperatingMode()](/lxmaster/api/classes/CiA402DriveProfile#function-setoperatingmode) / [setAutoFaultRecover()](/lxmaster/api/classes/CiA402DriveProfile#function-setautofaultrecover) between prepare() and start().

Public Attributes Documentation

variable startup_fault_autoreset

bool startup_fault_autoreset {true};

When a drive enters OPERATIONAL already in the Fault state (a residual fault carried over from a prior run, before this run has ever reached Operation Enabled), automatically pulse a bounded fault-reset and continue the enable sequence instead of treating it as a terminal stop.

A fault that appears after the drive reaches Operation Enabled is always terminal regardless of this flag. On by default.

variable shutdown_require_switch_on_disabled

bool shutdown_require_switch_on_disabled {true};

When true (default), the shutdown sequence waits for the drive to reach Switch-On Disabled (or Fault) before proceeding to the AL state walk-down.

Set false to skip the wait, which can speed up shutdown on drives that do not de-energise quickly.

variable op_mode

OpMode op_mode {OpMode::Csp};

Initial cyclic operating mode (CSP/CSV/CST).

Seeded into the drive at PRE_OP via SDO and used as the default when 0x6060 is not mapped in the RxPDO. Override with [setOperatingMode()](/lxmaster/api/classes/CiA402DriveProfile#function-setoperatingmode) between prepare() and start().

variable hold_actual_position

bool hold_actual_position {true};

When the axis is enabled and no moveTo() has been issued yet, command the drive to hold its actual position at enable time (CSP: target = actualPosition).

Prevents unintended motion when the application enables the drive before setting a target.

variable fault_reset_arm_cycles

int fault_reset_arm_cycles {50};

Number of RT cycles the startup fault-reset window remains active (see startup_fault_autoreset).

After this many cycles without reaching Operation Enabled the reset attempt is abandoned and the fault is treated as terminal.

variable enable_fsm

bool enable_fsm {true};

When true (default) the DS402 state-machine (CiA402Fsm) runs each cyclic iteration and drives the controlword through the standard enable/disable/fault-reset sequence.

Set false only for diagnostic profiling where you want to write the controlword manually.

variable auto_fault_reset_and_recover

bool auto_fault_reset_and_recover {false};

When true the FSM automatically pulses a fault-reset and returns to enabling after a mid-run trip (any fault after Operation Enabled has been reached).

When false (default) faults are terminal — the profile requests a cyclic stop and the application must handle recovery.

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