void EC_SLV_APP_cia402Application | ( | void * | pCtxt_p | ) |
CiA402 Application function.
Write Control Word RxPDO to activate axis with value 7. Write to Operation Mode RxPDO the position, velocity or torque modes (8, 9, 10). Write Control Word RxPDO to enable axis operation with value 15. Write a target torque, velocity or position value to the RxPDO mapping. Read the TxPDO or OBD values of the actual position, velocity or torque. Read the TxPDO or OBD values of the status word and the operation mode display.
[in] | pCtxt_p | EtherCAT slave handle. |