tq_Halt()

描述

Pause the current operation and wait for the drive to stop based on the configuration specified in setHaltOptionCode().

Relevant Objects

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

語法

int tq_Halt(uint32_t timeout_ms = 10000);

參數

• [in] timeout_ms

Timeout in milliseconds.

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_TQ_MODE);
  master.start();
  
  motor.enable(); 
  motor.tq_SetTorqueProfileType(0);
  motor.tq_SetTorqueSlope(200); 
  motor.tq_SetMotorRatedTorque(0);
  motor.tq_SetMotorRatedCurrent(0);
  motor.tq_Run(50); 
} 

void loop() {
  motor.tq_Halt();
  delay(1000);
  motor.tq_Resume(); 
  delay(1000); 
}

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