EthercatDevice_DmpHID.mpgReadAxis()

[EthercatDevice_DmpHID_Generic]

Description

Read the Axis value of the MPG for the EtherCAT slave device.

Derived Class:

Syntax

int mpgReadAxis();

Parameters

None.

Return Value

Return the Axis value.

• 0: off.
• 1: X-axis.
• 2: Y-axis.
• 3: Z-axis.
• 4: 4-axis.
• 5: 5-axis.
• 6: 6-axis.

If the return value is smaller than 0, it means an error code.

Comment

This function must be called after a successful execution of EthercatMaster::start() and before EthercatMaster::stop(). This function is non-blocking and can be called within the callback functions.

Example

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_QECR11HU9S slave;

void CyclicCallback() {
  slave.update();
}

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

  master.begin();
  slave.attach(0, master);
  master.attachCyclicCallback(CyclicCallback);
  master.start();
}

void loop() {
  Serial.print("Axis: ");
  Serial.println(slave.mpgReadAxis());
  delay(1000);
  // ...
}

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