getPositionActualValue()

描述

Get the position actual value object.

Relevant Objects

• Object 6064_h: Position actual value

語法

int32_t getPositionActualValue();

參數

無

回傳值

Return the position actual value.

備註

This function must be called after a successful execution of EthercatMaster::begin(). This function is non-blocking and can be called in callback functions if the related object is mapped to PDO.

範例程式碼

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_CiA402 motor;

void setup() {
  Serial.begin(115200);
  while (!Serial);
  
  master.begin();
  motor.attach(0, master); 
  master.start(); 
} 

void loop() {
  Serial.print("Position: ");
  Serial.println(motor.getPositionActualValue());
  delay(1000);
  // ... 
}

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