pv_Resume()

描述

Resume the paused operation that was called before pv_Halt().

Relevant Objects

• Object 6040_h: Controlword
• Object 6041_h: Statusword

語法

int pv_Resume();

參數

無

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_PV_MODE);
  master.start();
  
  motor.enable();
  motor.pv_SetMotionProfileType(0);
  motor.pv_SetAcceleration(5000); 
  motor.pv_SetDeceleration(5000);
  motor.pv_Run(1000);
} 

void loop() { 
  motor.pv_Halt();
  delay(1000);
  motor.pv_Resume(); 
  delay(1000);
}

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