motor.setModeSpecificBit6()

[EtherCAT Device CiA402]

Description

Set the bit 6 in the controlword object.

Relevant Objects

• Object 6040_h: Controlword

Syntax

int setModeSpecificBit6(bool bit_value);

Parameters

• [in] bit_value
  A Boolean value used to set or clear the bit 6 in the controlword object.
  • true: Set the bit value to 1.
  • false: Clear the bit value to 0.

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 non-blocking and can 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_PP_MODE); 
  master.start(); 
 
  motor.enable(); 
} 
 
void loop() { 
  motor.setTargetPosition(100000); 
  motor.setModeSpecificBit6(true); 
  motor.setModeSpecificBit5(true); 
  motor.setModeSpecificBit4(true); 
  while (motor.checkModeSpecificBit12() == 0); 
  motor.setModeSpecificBit4(false); 
  while (motor.checkModeSpecificBit12() == 1); 
  while (motor.isTargetReached() == 0); 
  motor.setTargetPosition(-100000); 
  motor.setModeSpecificBit6(true); 
  motor.setModeSpecificBit5(true); 
  motor.setModeSpecificBit4(true); 
  while (motor.checkModeSpecificBit12() == 0); 
  motor.setModeSpecificBit4(false); 
  while (motor.checkModeSpecificBit12() == 1); 
  while (motor.isTargetReached() == 0); 
}

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