Skip to main content
Version: 1.1.1

ecdev::CiA402DriveProfile::OutputSnapshot

Public Attributes​

Name
std::atomic< std::int32_t >target_velocity
std::atomic< std::int32_t >target_torque
std::atomic< std::int32_t >target_position
std::atomic< bool >request_fault_reset
std::atomic< bool >request_disable
std::atomic< bool >have_target_position
std::atomic< DriveOpMode >desired_mode
Live operating-mode request (PDO mode control).

Public Attributes Documentation​

variable target_velocity​

std::atomic< std::int32_t > target_velocity {0};

variable target_torque​

std::atomic< std::int32_t > target_torque {0};

variable target_position​

std::atomic< std::int32_t > target_position {0};

variable request_fault_reset​

std::atomic< bool > request_fault_reset {false};

variable request_disable​

std::atomic< bool > request_disable {false};

variable have_target_position​

std::atomic< bool > have_target_position {false};

variable desired_mode​

std::atomic< DriveOpMode > desired_mode {DriveOpMode::Csp};

Live operating-mode request (PDO mode control).

Seeded from Config::op_mode in the ctor.

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