motor.getCurrentActualValue()

[EtherCAT Device CiA402]

描述

Get the current actual value object.

Relevant Objects

Object 6078_h: Current actual value

語法

int16_t getCurrentActualValue();

參數

無

回傳值

Return the current 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();
  
  motor.enable();
}

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

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