EthercatDevice_DmpHID.mpgReadEmergencyStop()

[EthercatDevice_DmpHID_Generic]

Description

Read the Emergency Stop value of the MPG for the EtherCAT slave device.

Derived Class:

Syntax

int mpgReadEmergencyStop();

Parameters

None.

Return Value

Return the Emergency Stop value, 1 means the emergency stop signal pulls HIGH, and 0 means LOW. 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("Emergency Stop: ");
  Serial.println(slave.mpgReadEmergencyStop());
  delay(1000);
  // ...
}

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