EthercatDevice_DmpLCD.attach()

[EthercatDevice_DmpLCD_Generic]

Description

Initialize the object of this EtherCAT slave device class and attach it to the object of EthercatMaster class based on the ID of the slave device on the network. If the lcd_id parameter is provided, the lcdInit() function will be called to initialize the LCD module.

Derived Class:

Syntax

int attach(uint16_t slave_id, EthercatMaster *master, EthercatAttachMode mode = ECAT_SLAVE_NO);
int attach(uint16_t slave_id, EthercatMaster &master, EthercatAttachMode mode = ECAT_SLAVE_NO);
int attach(uint16_t slave_id, EthercatMaster *master, uint16_t lcd_id, EthercatAttachMode mode = ECAT_SLAVE_NO);
int attach(uint16_t slave_id, EthercatMaster &master, uint16_t lcd_id, EthercatAttachMode mode = ECAT_SLAVE_NO);

Parameters

• [in] uint16_t slave_id
  The ID of the slave device on the EtherCAT bus. The definition of this ID is determined based on the mode parameter.
• [in] EthercatMaster *master
  The object of EthercatMaster class to which it should be attached.
• [in] EthercatAttachMode mode
  The definition of slave_id:
  1. ECAT_SLAVE_NO
     The sequence number of the EtherCAT slave device on the network, 0 indicates the first slave device, 1 indicates the second slave device, and so on.
  2. ECAT_ALIAS_ADDRESS
     The alias address of the slave device on the network, which is defined at byte offset 8 in the SII EEPROM of the slave device.
• [in] uint16_t lcd_id
  The ID of the LCD module to be initialized. For a list of supported LCD modules, please refer to lcdInit().

Return Value

Return an error code. If the returned value is zero, it indicates a successful execution of this function.

Comment

The function must be called after EthercatMaster::begin() and before EthercatMaster::start(). This function is blocking and cannot be called within the Cyclic Callback.

Example

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_QECR11UN01 slave;

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

void loop() {
  // ...
}

Please see EthercatDevice_DmpLCD_Generic Class for more QEC Stepper Drivers instructions and API usage.