EthercatDevice_DmpHID.mpgInvertEncoderDirection()

[EthercatDevice_DmpHID_Generic]

Description

Invert the counting direction of the Encoder of the MPG on the EtherCAT slave device.

Derived Class:

Syntax

int mpgInvertEncoderDirection(bool invert);

Parameters

• [in] bool invert
  A boolean value that specifies whether to invert the counting direction of the Encoder.
  • true: The counting direction will be inverted.
  • false: The counting direction will not be changed.

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 within the Cyclic Callback.

Example

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_QECR11HU9S slave;

void setup() {
  master.begin();
  slave.attach(0, master);
  slave.mpgInvertEncoderDirection(true);
  master.start();
}

void loop() {
  slave.update();
  // ...
}

Please see EthercatDevice_DmpHID_Generic Class for more QEC HID slave instructions and API usage.