setPositionWindowTime()

Description

Set the position window time object.

Relevant Objects

• Object 6068_h : Position window time

Syntax

int setPositionWindowTime(uint16_t value);

Parameters

• [in] value

The position window time 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.setPositionWindowTime(10); 
}

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.