EthercatDevice_DmpStepper.configCiA402MotorResolution()

[EthercatDevice_DmpStepper_Generic]

Description

Configure the motor resolution for each motor on the EtherCAT slave device in CiA 402 Servo mode. This parameter is written to the EEPROM of the EtherCAT slave device and loaded during startup, so users do not need to configure this parameter each time before running the program.

Derived Class:

Syntax

int configCiA402MotorResolution(int motor, uint32_t steps_per_rev);

Parameters

• [in] int motor
  The specified motor number on the EtherCAT slave device:
  • 1: Motor 1.
  • 2: Motor 2.
  • 3: Motor 3.
• [in] uint32_t steps_per_rev
  The motor resolution to be configured, specified in terms of steps per revolution.

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_QECR11MP3S slave;

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

  slave.configCiA402MotorResolution(1, 3200);
  slave.configCiA402MotorResolution(2, 3200);
  slave.configCiA402MotorResolution(3, 3200);
  // ...
}

void loop() {
  // ...
}

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