motor.enableTouchProbe1()

[EtherCAT Device CiA402]

Description

Enable the touch probe 1.

Relevant Objects

• Object 60B8_h: Touch probe function
• Object 60B9_h: Touch probe status
• Object 60D0_h: Touch probe source

Syntax

int enableTouchProbe1(int trigger_mode, int trigger_src, int trigger_timing);

Parameters

• [in] trigger_mode
  Choose the trigger mode of touch probe 1:

Definition	Code	Description
CIA402_TPMODE_FIRST_EVENT	0	Trigger the first event.
CIA402_TPMODE_CONTINUOUS	1	Trigger events continuously.

• [in] trigger_src
  Choose the trigger source of touch probe 1:

Definition	Code	Description
CIA402_TPSRC_TP_INPUT	0x00010000	Trigger with touch probe input.
CIA402_TPSRC_ENCODER_Z	0x00020000	Trigger with zero impulse signal or position encoder.
CIA402_TPSRC_DIGITAL_INPUT1	1	Trigger with digital input 1.
CIA402_TPSRC_DIGITAL_INPUT2	2	Trigger with digital input 2.
CIA402_TPSRC_DIGITAL_INPUT3	3	Trigger with digital input 3.
CIA402_TPSRC_DIGITAL_INPUT4	4	Trigger with digital input 4.
CIA402_TPSRC_HW_ENCODER_Z	5	Trigger with digital input 5.
CIA402_TPSRC_SW_ENCODER_Z	6	Trigger with digital input 6.

• [in] trigger_timing
  Choose the trigger timing of touch probe 1:

Definition	Code	Description
CIA402_TPTIMING_NONE	0	Switch off all sampling of touch probe 1.
CIA402_TPTIMING_POS_EDGE	1	Enable sampling at positive edge of touch probe 1.
CIA402_TPTIMING_NEG_EDGE	2	Enable sampling at negative edge of touch probe 1
CIA402_TPTIMING_BOTH	3	Enable sampling at both positive and negative edges of touch probe 1 simultaneously.

Return Value

Return an error code. If the returned value is zero, it indicates a successful execution of this function.

Comment

This function must be called after a successful execution of EthercatMaster::begin(). This function is blocking and cannot be called in callback functions.

Example Code

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_CiA402 motor;

void setup() {
  Serial.begin(115200);
  while (!Serial);

  master.begin();
  motor.attach(0, master);

  motor.enableTouchProbe1(CIA402_TPMODE_FIRST_EVENT, CIA402_TPSRC_TP_INPUT, CIA402_TPTIMING_POS_EDGE);
  while (motor.isTouchProbe1ValueReady(CIA402_TPVALUE_POS_EDGE) == false);
  Serial.print("Touch probe position 1 positive value: ");
  Serial.println(motor.readTouchProbe1Value(CIA402_TPVALUE_POS_EDGE));
  motor.disableTouchProbe1();
}

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

}

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