getFollowingErrorActualValue()

Description

Get the following error actual value object.

Relevant Objects

• Object 60F4_hh: Following error actual value

Syntax

int32_t getFollowingErrorActualValue();

Parameters

None.

Return Value

Return the following error 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();
} 

void loop() { 
  Serial.print("Following Error: "); 
  Serial.println(motor.getFollowingErrorActualValue());
  delay(1000); 
  // ...
}

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