描述
Check if the following error occurs in Profile Position mode (pp).
Relevant Objects
- Object 6041h: Statusword
語法
int pp_CheckFollowingError();
參數
無
回傳值
Return whether a following error has occurred.
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() {
Serial.begin(115200);
while (!Serial);
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);
if (motor.pp_CheckFollowingError())
Serial.println("Following Error.");
motor.pp_Run(-100000, CIA402_PP_RELATIVE, true);
while (motor.pp_IsTargetReached() == 0);
if (motor.pp_CheckFollowingError())
Serial.println("Following Error.");
}Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.