motor.setShutdownOptionCode()

[EtherCAT Device CiA402]

描述

Set the shutdown option code object.

Relevant Objects

• Object 605B_h: Shutdown option code

語法

int setShutdownOptionCode(int16_t value);

參數

• [in] value
  The shutdown option code to be set:

值	描述
-32768 … -1	Manufacturer Specific
0	Disable drive function
1	Slow down with slow down ramp; disable of the drive function
2 … 32767	Reserved

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 blocking and cannot 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.setShutdownOptionCode(1);
} 

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.