motor.setHaltOptionCode()

[EtherCAT Device CiA402]

Description

Set the halt option code object.

Relevant Objects

• Object 605D_h: Halt option code

Syntax

int setHaltOptionCode(int16_t value);

Parameters

• [in] value
  The halt option code to be set:

Value	Description
-32768 … -1	Manufacturer Specific
0	Disable drive; motor is free to rotaten
1	Slow down on slow down ramp
2	Slow down on quick stop ramp
3	Slow down on the current limit
4	Slow down on the voltage limit
5 … 32767	Reserved

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 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.setHaltOptionCode(1);
}

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.