hm_SetHomingSpeeds()

Description

Set the homing speeds object.

Relevant Objects

Object 6099_h: Homing speeds

Syntax

int hm_SetHomingSpeeds(uint32_t speed_during_search_switch, uint32_t speed_during_search_zero);

Parameters

• [in] speed_during_search_switch

[in] speed_during_search_switch

• [in] speed_during_search_zero

The speed during search for zero to be set.

Return Value

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.