getCurrentActualValue()

Description

Get the current actual value object.

Relevant Objects

Object 6078_h: Current actual value

Syntax

int16_t getCurrentActualValue();

Parameters

None.

Return Value

Return the current actual value.

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();
  motor.attach(0, master); 
  master.start();
  
  motor.enable();
}

void loop() {
  Serial.print("Current: ");
  Serial.println(motor.getCurrentActualValue());
  delay(1000);
  // ... 
}

Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.