motor.hm_SetHomingAcceleration()

[EtherCAT Device CiA402]

描述

Set the homing acceleration object.

Relevant Objects

Object 609Ah: Homing acceleration

語法

int hm_SetHomingAcceleration(uint32_t value);

參數

• [in] value
  The homing acceleration to be set.

回傳值

Return an error code. If the returned value is zero, it indicates a successful execution of this function.

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() { 
  master.begin(); 
  motor.attach(0, master); 
  motor.setCiA402Mode(CIA402_HOMING_MODE); 
  master.start(); 
 
  motor.enable(); 
 
  motor.hm_SetHomingMethod(CIA402_HM33); 
  motor.hm_SetHomeOffset(0); 
  motor.hm_SetHomingSpeeds(100, 20); 
  motor.hm_SetHomingAcceleration(100); 
  motor.hm_Run(); 
  while (motor.hm_IsAttained() == CIA402_HM_RUNNING); 
} 
 
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.