説明
Switch the mode of operation.
Relevant Objects
- Object 6060h: Modes of operation
- Object 6061h: Modes of operation display
- Object 6502h: Supported drive modes
構文
int setCiA402Mode(int mode, uint32_t timeout_ms = 1000);
媒介変数
[in] mode
The mode of operation to be switched:
| 定義 | コード | 説明 |
| CIA402_PP_MODE | 1 | Profile Position mode (pp) |
| CIA402_PV_MODE | 3 | Profile Velocity mode (pv) |
| CIA402_TQ_MODE | 4 | Profile Torque mode (tq) |
| CIA402_HOMING_MODE | 6 | Homing mode (hm) |
| CIA402_CSP_MODE | 8 | Cyclic Synchronous Position mode (csp) |
| CIA402_CSV_MODE | 9 | Cyclic Synchronous Velocity mode (csv) |
| CIA402_CST_MODE | 10 | Cyclic Synchronous Torque mode (cst) |
[in] timeout_ms
タイムアウト値で、ミリ秒単位。
戻り値
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 used in callback functions if the related object is mapped to a PDO. However, when used in a callback, this function will ignore the timeout parameter and will not wait for the actual value to match the set value.
例
#include "Ethercat.h"
EthercatMaster master;
EthercatDevice_CiA402 motor;
void setup()
{ Serial.begin(115200);
while (!Serial);
master.begin();
motor.attach(0, master);
Serial.print("Operation Mode: ");
Serial.println(motor.getCiA402Mode());
}
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