motor.setPositionWindow()

[EtherCAT Device CiA402]

Description

Set the position window object.

Relevant Objects

• Object 6067_h: Position window

Syntax

int setPositionWindow(uint32_t value);

Parameters

• [in] value
  The position window to be set.

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 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() {
  master.begin(); 
  motor.attach(0, master); 
  motor.setPositionWindow(100); 
} 

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.