motor.isTouchProbe1ValueReady()

[EtherCAT Device CiA402]

Description

Check if a positive or negative edge has occurred on the touch probe 1 signal source.

Relevant Objects

• Object 60B9_h: Touch probe status

Syntax

bool isTouchProbe1ValueReady(int value_selector);

Parameters

• [in] value_selector
  Choose the event to check on touch probe 1:

Definition	Code	Description
CIA402_TPVALUE_POS_EDGE	0	Check if a positive edge has occurred on the touch probe 1 signal source.
CIA402_TPVALUE_NEG_EDGE	1	Check if a negative edge has occurred on the touch probe 1 signal source.

Return Value

Return whether a positive or negative edge has occurred on the touch probe 1 signal source.

Comment

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.

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.