setTargetTorque()

描述

Set the target torque object.

Relevant Objects

• Object 6071_h: Target torque

語法

int setTargetTorque(int16_t value);

參數

• [in] value

The target torque 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::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_TQ_MODE);
  master.start();
  
  motor.enable();
  motor.setTargetTorque(30); 
} 

void loop() {
  // put your main code here, to run repeatedly: 
}

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