motor.getPositionDemandInternalValue()

[EtherCAT Device CiA402]

描述

Get the position demand internal value object.

Relevant Objects

• Object 60FC_h: Position demand internal value

語法

int32_t getPositionDemandInternalValue();

參數

無

回傳值

Return the position demand internal 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("Position: ");
  Serial.println(motor.getPositionDemandValue());
  delay(1000);
  // ...
}

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