[EthercatDevice_DmpHID_Generic]
Description
Read the logical counter from the Encoder of the MPG on the EtherCAT slave device.
Derived Class:
| Class Name | Vendor ID | Product Code | UART | Keypad | LCM | MPG |
| EthercatDevice_QECR11HU1S | 0x00000bc3 | 0x0086d404 | O | O | ||
| EthercatDevice_QECR11HU9S | 0x00000bc3 | 0x0086d402 | O | O | O | O |
| EthercatDevice_QECR00HU9S | 0x00000bc3 | 0x0086d401 | O | O | O | O |
Syntax
int32_t mpgReadEncoder();
Parameters
None.
Return Value
Return the logical counter with 32-bit signed integer.
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;
int32_t encoder = 0;
void CyclicCallback() {
slave.update();
}
void setup() {
Serial.begin(115200);
master.begin();
slave.attach(0, master);
master.attachCyclicCallback(CyclicCallback);
master.start();
}
void loop() {
int32_t newEncoder = slave.mpgReadEncoder();
if (encoder != newEncoder) {
encoder = newEncoder;
Serial.print("Encoder: ");
Serial.println(encoder);
}
// ...
}Please see EthercatDevice_DmpHID_Generic Class for more QEC HID slave instructions and API usage.
