getTorqueDemandValue()

Description

Get the torque demand value object.

Relevant Objects

Object 6074_h: Torque demand value

Syntax

int16_t getTorqueDemandValue();

Parameters

None.

Return Value

Return the torque demand value.

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() { 
  Serial.begin(115200);
  while (!Serial);
  
  master.begin();
  motor.attach(0, master);
  master.start();
  
  motor.enable(); 
}

void loop() {
  Serial.print("Torque: ");
  Serial.println(motor.getTorqueDemandValue());
  delay(1000); 
  // ... 
}

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