Description
Set the torque profile type object.
Relevant Objects
- Object 6088h: Torque profile type
Syntax
int tq_SetTorqueProfileType(int16_t value);
Parameters
[in] value
The torque profile type to be set:
| Value | Description |
| 0000h | Linear ramp (trapezoidal profile) |
| 0001h | sin2 ramp |
| 0002h .. 7FFFh | Reserved |
| 8000h .. FFFFh | Manufacturer Specific |
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_TQ_MODE);
master.start();
motor.enable();
}
void loop() {
motor.tq_SetTorqueProfileType(0);
motor.tq_SetTorqueSlope(200);
motor.tq_SetMotorRatedTorque(0);
motor.tq_SetMotorRatedCurrent(0);
motor.tq_Run(50);
while (motor.tq_IsTargetReached() == 0);
delay(3000);
motor.tq_SetTorqueProfileType(0);
motor.tq_SetTorqueSlope(200);
motor.tq_SetMotorRatedTorque(0);
motor.tq_SetMotorRatedCurrent(0);
motor.tq_Run(-50);
while (motor.tq_IsTargetReached() == 0);
delay(3000);
}Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.