tq_Resume()

Description

Resume the paused operation that was called before tq_Halt().

Relevant Objects

• Object 6040_h: Controlword
• Object 6041_h: Statusword

Syntax

int tq_Resume();

Parameters

None.

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::start(). 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.setCiA402Mode(CIA402_TQ_MODE); 
  master.start(); 
  
  motor.enable(); 
  motor.tq_SetTorqueProfileType(0);
  motor.tq_SetTorqueSlope(200);
  motor.tq_SetMotorRatedTorque(0); 
  motor.tq_SetMotorRatedCurrent(0); 
  motor.tq_Run(50);
} 

void loop() {
  motor.tq_Halt();
  delay(1000); 
  motor.tq_Resume();
  delay(1000); 
}

Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.