説明
Get the digital inputs object.
Relevant Objects
Object 60FDh: Digital inputs
構文
uint32_t getDigitalInputs();
媒介変数
なし
戻り値
Return the value of the digital inputs object:
| Bit | 説明 |
| 0 | Negative limit switch |
| 1 | Positive limit switch |
| 2 | Home switch |
| 3 | Interlock |
| 4…15 | Reserved |
| 16…31 | Manufacturer Specific |
備考
この関数は、 . This function is non-blocking and can be called in callback functions if the related object is mapped to PDO.
例
#include "Ethercat.h"
EthercatMaster master;
EthercatDevice_CiA402 motor;
void setup() {
Serial.begin(115200);
while (!Serial);
master.begin();
motor.attach(0, master);
master.start();
}
void loop() {
Serial.print("Digital Inputs: ");
Serial.println(motor.getDigitalInputs());
delay(1000);
// ...
}詳細は EtherCAT CiA 402 User Manual QEC EtherCAT命令とAPI使用法参照