motor.getVelocityActualValue()

[EtherCAT Device CiA402]

Description

Get the velocity actual value object.

Relevant Objects

• Object 606C_h: Velocity actual value

Syntax

int32_t getVelocityActualValue();

Parameters

None.

Return Value

Return the velocity 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("Velocity: ");
  Serial.println(motor.getVelocityActualValue());
  delay(1000);
  // ...
}

---

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