hm_SetHomingMethod()

Description

Set the homing method object.

Relevant Objects

• Object 6098_h: Homing method

Syntax

int hm_SetHomingMethod(int8_t value);

Parameters

• [in] value

The homing method to be set:

Reserved

Return an error code. If the returned value is zero, it indicates a successful execution of this function.

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() { 
  master.begin(); 
  motor.attach(0, master); 
  motor.setCiA402Mode(CIA402_HOMING_MODE);
  master.start(); 
  
  motor.enable();
  
  motor.hm_SetHomingMethod(CIA402_HM33); 
  motor.hm_SetHomeOffset(0); 
  motor.hm_SetHomingSpeeds(100, 20); 
  motor.hm_SetHomingAcceleration(100);
  motor.hm_Run();
  while (motor.hm_IsAttained() == CIA402_HM_RUNNING);
} 

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.