EC_SLV_APP_cia402Application()

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.

Remarks

If device goes into OP state without activating the axis, status goes into quickstop mode (4096). Reset quickstop status by activating the axis in control word object.

Parameters

[in]

pCtxt_p

EtherCAT slave handle.

Example

#include <ecSlvApi.h>
 
// required variables
EC_API_SLV_SHandle_t* S_ecSlvApiHdl;
 
// the Call
EC_SLV_APP_cia402Application(ctxt);

Examples

ecSlvCiA402.c, and ESL_cia402Demo.c.