描述
Move at a target velocity continuously in Profile Velocity mode (pv).
Relevant Objects
- Object 6041h: Statusword
- Object 60FFh: Target velocity
語法
int pv_Run(int32_t velocity);
參數
[in] velocity
The target velocity to be set.
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();
}
void loop() {
motor.pv_SetMotionProfileType(0);
motor.pv_SetAcceleration(5000);
motor.pv_SetDeceleration(5000);
motor.pv_Run(1000);
while (motor.pv_IsTargetReached() == 0);
delay(3000);
motor.pv_SetMotionProfileType(0);
motor.pv_SetAcceleration(5000);
motor.pv_SetDeceleration(5000);
motor.pv_Run(-1000);
while (motor.pv_IsTargetReached() == 0);
delay(3000);
}Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.