説明
Set the homing method object.
Relevant Objects
- Object 6098h: Homing method
構文
int hm_SetHomingMethod(int8_t value);
媒介変数
[in] value
The homing method to be set:
| Value | 説明 |
| -128 .. -1 | Manufacturer Specific |
| 0 | No homing operation required |
| 1..35 | Methods 1 to 35 |
| 36 .. 127 | Reserved |
Reserved
error codeを返します。返された値が 0の場合、この関数が正常に完了したことを示します。
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() {
master.begin();
motor.attach(0, master);
motor.setCiA402Mode(CIA402_HOMING_MODE);
master.start();
motor.enable();
motor.hm_SetHomingMethod(CIA402_HM33);
motor.hm_SetHomeOffset(0);
motor.hm_SetHomingSpeeds(100, 20);
motor.hm_SetHomingAcceleration(100);
motor.hm_Run();
while (motor.hm_IsAttained() == CIA402_HM_RUNNING);
}
void loop() {
// put your main code here, to run repeatedly:
}詳細は EtherCAT CiA 402 User Manual QEC EtherCAT命令とAPI使用法参照