getPositionActualInternalValue()

Description

Get the position actual internal value object.

Relevant Objects

• Object 6063_h: Position actual internal value

Syntax

int32_t getPositionActualInternalValue();

Parameters

None.

Return Value

Return the position actual internal 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("Position: ");
  Serial.println(motor.getPositionActualInternalValue()); 
  delay(1000);
  // ... 
}

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