the cis402 state machine looks something like this:
Code:
// STATE TRANSITIONS
switch (state) {
case 0x0000:
case 0x0040: // Switch On Disabled
d->control.raw = 0x0006; // CMD: Shutdown
break;
case 0x0021: // Ready to Switch On
d->control.raw = 0x0007; // CMD: Switch Onif (homed && !data.prev_homed) {
break;
case 0x0023: // Switched On
d->control.raw = 0x000F; // CMD: Enable Operation
break;
case 0x0007: // Quick Stop Active
d->control.raw = 0x0000; // CMD: Disable Voltage (Reset the stop)
break;
case 0x0027: // OPERATION ENABLED
d->control.raw = 0x000F; // Maintain Enable
return 1; // Signal: "Drive Ready for Motion"
default:
d->control.raw = 0x0000; // Safety Fallback
break;
}
return 0; // Still transitioning to on state
state is the status register. d->control.raw is the control register. This is in a separate procedure that eventually returns true (1) if the machine is turned on.
Then you can proceed to homing etc if you are using internal homing.. Something like this
Code:
// 4. Drive Logic: Only command motion/homing if Operational AND Mode is correct
if (drive_ready) {
if (homing) {
opmode_out = 6;
// --- DYNAMIC TORQUE LIMIT ---
// Use the HAL pin 'torque_limit', but maybe you want to
// force it lower specifically for homing?
// Usually, we just use the pin value set by the user.
drive_torque_limit_out = (int32_t)(homing_torque_limit * torque_scale);
if (opmode_display_in == 6) {
if (!data.status.bits.op_error)
data.control.bits.op_specific1 = 1;
}
} else {
opmode_out = default_opmode;
data.control.bits.op_specific1 = 0;
// Set normal torque limit (100% or as defined by HAL)
drive_torque_limit_out = (int32_t)(torque_limit * torque_scale);
if (mode_verified) {
drive_target_position = (int32_t)(target_position * data.s_pos_scale);
drive_target_velocity = (int32_t)(target_velocity * data.s_vel_scale);
}
}
}
else {
// Drive not ready (Faulted, Timeout, or Powering up)
opmode_out = default_opmode;
data.control.bits.op_specific1 = 0;
drive_torque_limit_out = 0; // Safety clamp
}
this attempts to limit the torque when homing, you can see we receive a homing signal and we wait until we can read it back to confirm it stuck, then wait until homing completes or errors.
The status word looks something like this (homing bits are also used by manufacturers when not homing
Code:
typedef struct {
union {
unsigned short raw;
struct {
unsigned short ready_to_switch_on :1; // Bit 0
unsigned short switched_on :1; // Bit 1
unsigned short op_enabled :1; // Bit 2
unsigned short fault :1; // Bit 3
unsigned short voltage_enabled :1; // Bit 4
unsigned short quick_stop :1; // Bit 5
unsigned short sw_on_disabled :1; // Bit 6
unsigned short warning :1; // Bit 7
unsigned short manufacturer :1; // Bit 8
unsigned short remote :1; // Bit 9
unsigned short target_reached :1; // Bit 10
unsigned short internal_limit :1; // Bit 11
unsigned short op_specific :1; // Bit 12 (Homing Attained)
unsigned short op_error :1; // Bit 13 (Homing Error)
unsigned short manufacturer_1 :1; // Bit 14
unsigned short manufacturer_2 :1; // Bit 15
} bits;
} status;
