pp_Run()

描述

Move to the target position in Profile Position mode (pp).

Relevant Objects

• Object 6040_h: Controlword
• Object 6041_h: Statusword
• Object 607A_h: Target position

語法

int pp_Run(int32_t position, int relative = CIA402_PP_ABSOLUTE, bool change_immediately = false);

參數

• [in] position

The target position to be set.

• [in] relative

A value indicating whether the position parameter is relative or absolute:

• [in] change_immediately
  • true: Interrupt the actual positioning and start the next positioning.
  • false: Finish the actual positioning and then start the next positioning.

A Boolean to determine if the target position change should be executed instantly.

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::start(). 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.setCiA402Mode(CIA402_PP_MODE);
  master.start();
  motor.enable();
} 

void loop() { 
  motor.pp_SetMotionProfileType(0);
  motor.pp_SetVelocity(100000);
  motor.pp_SetAcceleration(5000);
  motor.pp_SetDeceleration(5000);
  motor.pp_Run(100000, CIA402_PP_RELATIVE, true);
  while (motor.pp_IsTargetReached() == 0); 
  
  motor.pp_SetMotionProfileType(0);
  motor.pp_SetVelocity(30000); 
  motor.pp_SetAcceleration(5000);
  motor.pp_SetDeceleration(5000);
  motor.pp_Run(-100000, CIA402_PP_RELATIVE, true);
  while (motor.pp_IsTargetReached() == 0);
}

Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.