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Parameter to choose whether to stop the control on internal limit #461

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Parameter to choose whether to stop the control on internal limit #461

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4 changes: 3 additions & 1 deletion canopen_402/include/canopen_402/motor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -296,7 +296,8 @@ class Motor402 : public MotorBase
: MotorBase(name), status_word_(0),control_word_(0),
switching_state_(State402::InternalState(settings.get_optional<unsigned int>("switching_state", static_cast<unsigned int>(State402::Operation_Enable)))),
monitor_mode_(settings.get_optional<bool>("monitor_mode", true)),
state_switch_timeout_(settings.get_optional<unsigned int>("state_switch_timeout", 5))
state_switch_timeout_(settings.get_optional<unsigned int>("state_switch_timeout", 5)),
stop_on_internal_limit_(settings.get_optional<bool>("stop_on_internal_limit", true))
{
storage->entry(status_word_entry_, 0x6041);
storage->entry(control_word_entry_, 0x6040);
Expand Down Expand Up @@ -377,6 +378,7 @@ class Motor402 : public MotorBase
const State402::InternalState switching_state_;
const bool monitor_mode_;
const boost::chrono::seconds state_switch_timeout_;
const bool stop_on_internal_limit_;

canopen::ObjectStorage::Entry<uint16_t> status_word_entry_;
canopen::ObjectStorage::Entry<uint16_t > control_word_entry_;
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2 changes: 1 addition & 1 deletion canopen_402/src/motor.cpp
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Expand Up @@ -397,7 +397,7 @@ bool Motor402::readState(LayerStatus &status, const LayerState &current_state){
status.warn("mode does not match");
}
if(sw & (1<<State402::SW_Internal_limit)){
if(old_sw & (1<<State402::SW_Internal_limit) || current_state != Ready){
if(!stop_on_internal_limit_ || old_sw & (1<<State402::SW_Internal_limit) || current_state != Ready){
status.warn("Internal limit active");
}else{
status.error("Internal limit active");
Expand Down