motor.pp_IsTargetReached()

[EtherCAT Device CiA402]

描述

Check if the target position has been reached in Profile Position mode (pp).

Relevant Objects

• Object 6041_h: Statusword

語法

int pp_IsTargetReached();

參數

無

回傳值

Return whether the target position has been reached.

備註

This function must be called after a successful execution of EthercatMaster::start(). This function is non-blocking and can be called in callback functions.

範例程式碼

#include "Ethercat.h"

EthercatMaster master; 
EthercatDevice_CiA402 motor; 

void setup() {
  master.begin();
  motor.attach(0, master); 
  motor.setCiA402Mode(CIA402_PP_MODE);
  master.start();
  
  motor.enable();
} 

void loop() {
  motor.pp_Run(100000, CIA402_PP_RELATIVE, true);
  while (motor.pp_IsTargetReached() == 0);
  motor.pp_Run(-100000, CIA402_PP_RELATIVE, true);
  while (motor.pp_IsTargetReached() == 0); 
}

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