motor.hm_Stop()

[EtherCAT Device CiA402]

Description

Stop the homing operation and wait for the drive to stop based on the configuration specified in setHaltOptionCode().

Relevant Objects

• Object 6040_h: Controlword
• Object 6041_h: Statusword

Syntax

int hm_Stop(uint32_t timeout_ms = 10000);

Parameters

• [in] timeout_ms
  Timeout in milliseconds.

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::start(). This function is blocking and cannot be called in callback functions.

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();
  delay(1000);
  motor.hm_Stop();
}

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.