描述
Set the motion profile type object.
Relevant Objects
- Object 6086h: Motion profile type
語法
int pv_SetMotionProfileType(int16_t value);
參數
[in] value
The motion profile type to be set:
| 值 | 描述 |
| -32768 … -1 | Manufacturer Specific |
| 0 | Linear ramp (trapezoidal profile) |
| 1 | sin2 ramp |
| 2 | Jerk-free ramp |
| 3 | Jerk-limited ramp |
| 4 .. 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 non-blocking and can be called in callback functions if the related object is mapped to PDO.
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.