getPositionDemandInternalValue()

Description

Get the position demand internal value object.

Relevant Objects

• Object 60FC_h: Position demand internal value

Syntax

int32_t getPositionDemandInternalValue();

Parameters

None.

Return Value

Return the position demand 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.getPositionDemandValue());
  delay(1000);
  // ...
}

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