Description
Set the profile acceleration object.
Relevant Objects
- Object 6083h: Profile acceleration
Syntax
int pp_SetAcceleration(uint32_t value);
Parameters
[in] value
The profile acceleration 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.setCiA402Mode(CIA402_PP_MODE);
master.start();
motor.enable();
}
void loop() {
motor.pp_SetMotionProfileType(0);
motor.pp_SetVelocity(100000);
motor.pp_SetAcceleration(5000);
motor.pp_SetDeceleration(5000);
motor.pp_Run(100000, CIA402_PP_RELATIVE, true);
while (motor.pp_IsTargetReached() == 0);
motor.pp_SetMotionProfileType(0);
motor.pp_SetVelocity(30000);
motor.pp_SetAcceleration(5000);
motor.pp_SetDeceleration(5000);
motor.pp_Run(-100000, CIA402_PP_RELATIVE, true);
while (motor.pp_IsTargetReached() == 0);
}Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.