motor.getAdditionalPositionActualValue()

[EtherCAT Device CiA402]

Description

Get the additional position actual value object.

Relevant Objects

• Object 60E4_h: Additional position actual value

Syntax

int32_t getAdditionalPositionActualValue(int ordinal = 1);

Parameters

None.

Return Value

Return the additional position 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("Position: ");
  Serial.println(motor.getAdditionalPositionActualValue());
  delay(1000);
  // ... 
}

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