motor.getSupportedDriveModes()

[EtherCAT Device CiA402]

Description

Get the supported drive modes object.

Relevant Objects

• Object 6502_h: Supported drive modes

Syntax

uint32_t getSupportedDriveModes();

Parameters

None.

Return Value

Return the value of the supported drive modes object:

Bit	Description
0	Profile Position mode (pp)
1	Velocity mode (vl)
2	Profile Velocity mode (pv)
3	Profile Torque mode (tq)
4	Reserved
5	Homing mode (hm)
6	Interpolated Position mode (ip)
7	Cyclic synchronous position mode (csp)
8	Cyclic synchronous velocity mode (csv)
9	Cyclic synchronous torque mode (cst)
10	Cyclic synchronous torque mode with commutation angle (cstca)
11…15	Reserved
16…13	Manufacturer Specific

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);
  Serial.print("Supported Drive Modes: ");
  Serial.println(motor.getSupportedDriveModes()); 
} 

void loop() {
  // put your main code here, to run repeatedly: 
}

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