説明
Check if the maximum slippage error occurs in Profile Velocity mode (pv).
Relevant Objects
- Object 6041h: ステータスワード
構文
int pv_CheckMaxSlippageError();
媒介変数
なし
戻り値
Return whether a maximum slippage error has occurred.
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() {
Serial.begin(115200);
while (!Serial);
master.begin();
motor.attach(0, master);
motor.setCiA402Mode(CIA402_PV_MODE);
master.start();
motor.enable();
}
void loop() {
motor.pv_SetMotionProfileType(0);
motor.pv_SetAcceleration(5000);
motor.pv_SetDeceleration(5000);
motor.pv_Run(1000);
while (motor.pv_IsTargetReached() == 0);
if (motor.pv_CheckMaxSlippageError())
Serial.println("Max skippage Error.");
delay(3000);
motor.pv_SetMotionProfileType(0);
motor.pv_SetAcceleration(5000);
motor.pv_SetDeceleration(5000);
motor.pv_Run(-1000);
while (motor.pv_IsTargetReached() == 0);
if (motor.pv_CheckMaxSlippageError())
Serial.println("Max skippage Error.");
delay(3000);
}詳細は EtherCAT CiA 402 User Manual QEC EtherCAT命令とAPI使用法参照