enable()

描述

Enable the drive function and power on the motor. The behavior of this function is identical to

setCiA402State(CIA402_OPERATION_ENABLED).

Relevant Objects

• Object 6040_h: Controlword
• Object 6041_h: Statusword

語法

int enable(uint32_t timeout_ms = 1000);

參數

• [in] timeout_ms

Timeout in milliseconds.

回傳值

Return an error code. If the returned value is zero, it indicates a successful execution of this function.

備註

This function must be called after a successful execution of EthercatMaster::start(). This function is blocking and will wait for the actual value to match the set value until a timeout occurs. When used in a callback function, it becomes non-blocking and will ignore the timeout parameter, not waiting for the actual value to match the set value.

範例程式碼

#include "Ethercat.h"

EthercatMaster master; 
EthercatDevice_CiA402 motor;

void setup() { master.begin();
 motor.attach(0, master);
 master.start();

 motor.enable(); 
}

void loop() { 
  // put your main code here, to run repeatedly: 
}

Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.