motor.pp_IsTargetReached()

[EtherCAT Device CiA402]

説明

Check if the target position has been reached in Profile Position mode (pp).

Relevant Objects

• Object 6041_h: ステータスワード

構文

int pp_IsTargetReached();

媒介変数

なし

戻り値

Return whether the target position has been reached.

備考

この関数は、 EthercatMaster::start(). This function is non-blocking and can be called in callback functions.

例

#include "Ethercat.h"

EthercatMaster master; 
EthercatDevice_CiA402 motor; 

void setup() {
  master.begin();
  motor.attach(0, master); 
  motor.setCiA402Mode(CIA402_PP_MODE);
  master.start();
  
  motor.enable();
} 

void loop() {
  motor.pp_Run(100000, CIA402_PP_RELATIVE, true);
  while (motor.pp_IsTargetReached() == 0);
  motor.pp_Run(-100000, CIA402_PP_RELATIVE, true);
  while (motor.pp_IsTargetReached() == 0); 
}

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詳細は EtherCAT CiA 402 ユーザーマニュアル QEC EtherCAT命令とAPI使用法参照