motor.getCiA402Mode()

[EtherCAT Device CiA402]

描述

Get the current mode of operation.

Relevant Objects

Object 6061h: Modes of operation display

語法

int getCiA402Mode();

參數

無

回傳值

Return the current mode of operation:

定義	代碼	描述
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)

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();  
  master.begin(); motor.attach(0, master);
   
  Serial.print("Operation Mode: ");
  Serial.println(motor.getCiA402Mode());
  }

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

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Please see the EtherCAT CiA 402 使用手冊 for more QEC EtherCAT instructions and API usage.