[EthercatDevice_DmpHID_Generic]
Description
Register the MPG event callback function for the EtherCAT slave device. Since this callback function is called within update(), it is prohibited to call blocking functions and system call-related functions within this callback function if update() is called in an interrupt callback function (such as Cyclic Callback, Error Callback, or Event Callback).
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
int mpgSetCallback(void (*callback)(int));
Parameters
[in] void (*callback)(int)
The MPG event callback function to be registered has an integer-type parameter that indicates the event type. The supported MPG event types are as follows:
| Definition | Code | Description |
| ECAT_MPG_AXIS_CHANGE | 1 | The status of the Axis knob has changed. |
| ECAT_MPG_RATIO_CHANGE | 2 | The status of the Ratio knob has changed. |
| ECAT_MPG_EMERGENCY_STOP_CHANGE | 3 | The status of the Emergency Stop switch has changed. |
| ECAT_MPG_ENABLE_SWITCH_CHANGE | 4 | The status of the Enable switch has changed. |
| ECAT_MPG_ENCODER_CHANGE | 5 | The logical counter of the Encoder has 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 MpgCallback(int event) {
switch (event) {
case ECAT_MPG_AXIS_CHANGE:
Serial.print("MPG Axis changed. ");
Serial.println(slave.mpgReadAxis());
break;
case ECAT_MPG_RATIO_CHANGE:
Serial.print("MPG Ratio changed. ");
Serial.println(slave.mpgReadRatio());
break;
case ECAT_MPG_EMERGENCY_STOP_CHANGE:
Serial.print("MPG Emergency Stop changed ");
Serial.println(slave.mpgReadEmergencyStop());
break;
case ECAT_MPG_ENABLE_SWITCH_CHANGE:
Serial.print("MPG Enable Switch changed. ");
Serial.println(slave.mpgReadEnableSwitch());
break;
case ECAT_MPG_ENCODER_CHANGE:
Serial.print("MPG Encoder changed. ");
Serial.println(slave.mpgReadEncoder());
break;
}
}
void setup() {
Serial.begin(115200);
master.begin();
slave.attach(0, master);
slave.mpgSetCallback(MpgCallback);
master.start();
}
void loop() {
slave.update();
// ...
}Please see EthercatDevice_DmpHID_Generic Class for more QEC HID slave instructions and API usage.
