Description
Get the current mode of operation.
Relevant Objects
Object 6061h: Modes of operation display
Syntax
int getCiA402Mode();
Parameters
None.
Return Value
Return the current mode of operation:
| Definition | Code | Description |
| CIA402_PP_MODE | 1 | Profile Position mode (pp) |
| CIA402_PV_MODE | 3 | Profile Velocity mode (pv) |
| CIA402_TQ_MODE | 4 | Profile Torque mode (tq) |
| CIA402_HOMING_MODE | 6 | Homing mode (hm) |
| CIA402_CSP_MODE | 8 | Cyclic Synchronous Position mode (csp) |
| CIA402_CSV_MODE | 9 | Cyclic Synchronous Velocity mode (csv) |
| CIA402_CST_MODE | 10 | Cyclic Synchronous Torque mode (cst) |
Comment
This function must be called after a successful execution of EthercatMaster::begin(). This function is non-blocking and can be called in callback functions if the related object is mapped to PDO.
Example Code
#include "Ethercat.h"
EthercatMaster master;
EthercatDevice_CiA402 motor;
void setup()
{ Serial.begin(115200);
while (!Serial);
master.begin();
master.begin(); motor.attach(0, master);
Serial.print("Operation Mode: ");
Serial.println(motor.getCiA402Mode());
}
void loop() {
// put your main code here, to run repeatedly:
}Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.