Description
Set the velocity polarity object.
Relevant Objects
- Object 607Eh: Polarity
Syntax
int setVelocityPolarity(int polarity);
Parameters
[in] polarity
The velocity polarity to be set:
| Definition | Code | Description |
| CIA402_POLARITY_POSITIVE | 0 | multiply by 1 |
| CIA402_POLARITY_NEGATIVE | 1 | multiply by -1 |
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.setVelocityPolarity(CIA402_POLARITY_POSITIVE);
}
void loop() {
// put your main code here, to run repeatedly:
}