motor.getTorqueActualValue()

[EtherCAT Device CiA402]

描述

Get the torque actual value object.

Relevant Objects

• Object 6077_h: Torque actual value

語法

int16_t getTorqueActualValue();

參數

無

回傳值

Return the torque 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("Torque: "); 
  Serial.println(motor.getTorqueActualValue());
  delay(1000); 
  // ... 
}

---

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