Description
Set the halt option code object.
Relevant Objects
- Object 605Dh: 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:
}Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.