setPositionPolarity()

Description

Set the position polarity object.

Relevant Objects

• Object 607E_h: Polarity

Syntax

int setPositionPolarity(int polarity);

Parameters

• [in] polarity

The position polarity 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.setPositionPolarity(CIA402_POLARITY_POSITIVE); 
} 

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.