EthercatDevice_DmpStepper_Generic Class

[EthercatDevice_Dmp]

EthercatDevice_DmpStepper_Generic is an EtherCAT slave class developed for the DM&P Group’s 3-axis stepper motor controller EtherCAT slave module. This module features motor drivers, encoder inputs, and other CNC-related functions. In the motor control section, it not only supports the CiA 402 mode but also the 3-axis synchronous G-code mode.

The class relationships of EthercatDevice_DmpStepper_Generic are illustrated in the following diagram:

• EthercatDevice_DmpStepper_Generic inherits from _EthercatDevice_DmpCommonDriver.
• EthercatDevice_DmpStepper_Generic is composed of EthercatDevice_CiA402.

Base Class:

• _EthercatDevice_CommonDriver

Derived Class:

Parameter Information

Machine Axis

• ECAT_MACHINE_X_AXIS (0)
• ECAT_MACHINE_Y_AXIS (1)
• ECAT_MACHINE_Z_AXIS (2)

Encoder List

• ECAT_ENCODER_1      (0x01)
• ECAT_ENCODER_2      (0x02)
• ECAT_ENCODER_3      (0x03)
• ECAT_ENCODER_X      (0x11)
• ECAT_ENCODER_Y      (0x12)
• ECAT_ENCODER_Z      (0x13)

Index List

• ECAT_EMERGENCY_STOPPED                  (1)
• ECAT_MACHINE_X_AXIS_LIMIT_TOUCHED       (2)
• ECAT_MACHINE_Y_AXIS_LIMIT_TOUCHED       (3)
• ECAT_MACHINE_Z_AXIS_LIMIT_TOUCHED       (4)
• IS_ECAT_ENCODER_1_INDEX_RESET(event)  (((event) & 0x00000300) == 0x00000100)
• IS_ECAT_ENCODER_2_INDEX_RESET(event)  (((event) & 0x00000C00) == 0x00000400)
• IS_ECAT_ENCODER_3_INDEX_RESET(event)  (((event) & 0x00003000) == 0x00001000)
• IS_ECAT_ENCODER_X_INDEX_RESET(event)  (((event) & 0x0000C000) == 0x00004000)
• IS_ECAT_ENCODER_Y_INDEX_RESET(event)  (((event) & 0x00030000) == 0x00010000)
• IS_ECAT_ENCODER_Z_INDEX_RESET(event)  (((event) & 0x000C0000) == 0x00040000)
• IS_ECAT_ENCODER_1_OVERFLOW(event)     (((event) & 0x00000300) == 0x00000200)
• IS_ECAT_ENCODER_2_OVERFLOW(event)     (((event) & 0x00000C00) == 0x00000800)
• IS_ECAT_ENCODER_3_OVERFLOW(event)     (((event) & 0x00003000) == 0x00002000)
• IS_ECAT_ENCODER_X_OVERFLOW(event)     (((event) & 0x0000C000) == 0x00008000)
• IS_ECAT_ENCODER_Y_OVERFLOW(event)     (((event) & 0x00030000) == 0x00020000)
• IS_ECAT_ENCODER_Z_OVERFLOW(event)     (((event) & 0x000C0000) == 0x00080000)
• IS_ECAT_ENCODER_1_UNDERFLOW(event)    (((event) & 0x00000300) == 0x00000300)
• IS_ECAT_ENCODER_2_UNDERFLOW(event)    (((event) & 0x00000C00) == 0x00000C00)
• IS_ECAT_ENCODER_3_UNDERFLOW(event)    (((event) & 0x00003000) == 0x00003000)
• IS_ECAT_ENCODER_X_UNDERFLOW(event)    (((event) & 0x0000C000) == 0x0000C000)
• IS_ECAT_ENCODER_Y_UNDERFLOW(event)    (((event) & 0x00030000) == 0x00030000)
• IS_ECAT_ENCODER_Z_UNDERFLOW(event)    (((event) & 0x000C0000) == 0x000C0000)

Initialization Functions

Initialization-related functions for the EthercatDevice_DmpStepper_Generic class.

• attach()
• detach()

Control Functions

Control functions for the EthercatDevice_DmpStepper_Generic class.

• update()
• attachInterrupt()

CiA 402 Functions

CiA 402 functions for the EthercatDevice_DmpStepper_Generic class.

• cia402GetServo()

Machine Functions

Machine functions for the EthercatDevice_DmpStepper_Generic class.

• machineEnableSoftLimit()
• machineDisableSoftLimit()
• machineIsEmergencyStopped()
• machineSetEmergencyStop()
• machineClearEmergencyStop()
• machineIsLimitTouched()
• machineIsHomingAttained()
• machineIsServoOn()
• machineIsMoving()
• machineServoOn()
• machineServoOff()
• machineSetHomingSpeed()
• machineStartHoming()
• machineGcode()
• machineActualPosition()

Encoder Functions

Encoder functions for the EthercatDevice_DmpStepper_Generic class.

• encoderWrite()
• encoderDirectionRead()
• encoderRead()

Configuration Functions

Configuration functions for the EthercatDevice_DmpStepper_Generic class.

• getDeviceMode()
• configDeviceMode()
• configCiA402MotorResolution()
• configMachineAxisMapping()
• configMachineDefaultFeedrate()
• configMachineDefaultHomingSpeed()
• configMachineHomingDirection()
• configMachineHomingPriority()
• configMachineMaxVelocity()
• configMachineMaxAcceleration()
• configMachineSoftLimit()
• configMachinePPU()
• configMachineAxisDirection()
• configEncoderMode()
• configEncoderDigitalFilter()
• configEncoderRange()
• configEncoderInputPolarity()
• configEncoderIndexReset()

Please see the EtherCAT Library User Manual for more QEC EtherCAT instructions and API usage.