描述
Get the supported drive modes object.
Relevant Objects
- Object 6502h: Supported drive modes
語法
uint32_t getSupportedDriveModes();
參數
無
回傳值
Return the value of the supported drive modes object:
| Bit | 描述 |
| 0 | Profile Position mode (pp) |
| 1 | Velocity mode (vl) |
| 2 | Profile Velocity mode (pv) |
| 3 | Profile Torque mode (tq) |
| 4 | Reserved |
| 5 | Homing mode (hm) |
| 6 | Interpolated Position mode (ip) |
| 7 | Cyclic synchronous position mode (csp) |
| 8 | Cyclic synchronous velocity mode (csv) |
| 9 | Cyclic synchronous torque mode (cst) |
| 10 | Cyclic synchronous torque mode with commutation angle (cstca) |
| 11…15 | Reserved |
| 16…13 | Manufacturer Specific |
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);
Serial.print("Supported Drive Modes: ");
Serial.println(motor.getSupportedDriveModes());
}
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.