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setSoftwarePositionLimit()

Description

Set the software position limit object.

Relevant Objects

  • Object 607Dh: Software position limit

Syntax

int setSoftwarePositionLimit(int32_t min_value, int32_t max_value);

Parameters

  • [in] min_value

The minimum software position limit to be set.

  • [in] max_value

The maximum software position limit 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.setSoftwarePositionLimit(-2147483648, 2147483647); 
}

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.

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