motor.getVelocityActualValue()

[EtherCAT Device CiA402]

描述

Get the velocity actual value object.

Relevant Objects

• Object 606C_h: Velocity actual value

語法

int32_t getVelocityActualValue();

參數

無

回傳值

Return the velocity 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(); 
} 

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

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