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EthercatDevice_DmpStepper.configEncoderDigitalFilter()

[EthercatDevice_DmpStepper_Generic]

Description

Configure the digital filter of the specified encoder on the EtherCAT slave device. As shown in the figure, pulses with a width smaller than the filter bandwidth are filtered out, and pulses that are not filtered out are delayed by the time of the filter bandwidth.

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.

configEncoderDigitalFilter

Derived Class:

Class NameVendor IDProduct Code
EthercatDevice_QECR11MP3S0x00000bc30x0086d0d6
EthercatDevice_QECR00MP3S0x00000bc30x0086d0d9

Syntax

int configEncoderDigitalFilter(int encoder, uint32_t width);

Parameters

  • [in] int encoder
    The specified encoder number:
DefinitionValueDescription
ECAT_ENCODER_10x01Encoder 1 on the EtherCAT slave device.
ECAT_ENCODER_20x02Encoder 2 on the EtherCAT slave device.
ECAT_ENCODER_30x03Encoder 3 on the EtherCAT slave device.
ECAT_ENCODER_X0x11Encoder X, which mapping is determined by the configMachineAxisMapping().
ECAT_ENCODER_Y0x12Encoder Y, which mapping is determined by the configMachineAxisMapping().
ECAT_ENCODER_Z0x13Encoder Z, which mapping is determined by the configMachineAxisMapping().
  • [in] uint32_t width
    The digital filter of the encoder to be configured is in units of 10 nanoseconds. If this value is 100, it means the filter width is 1000 nanoseconds.

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 callback functions.

Example

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_QECR11MP3S slave;

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

  slave.configEncoderDigitalFilter(ECAT_ENCODER_1, 100);
  slave.configEncoderDigitalFilter(ECAT_ENCODER_2, 100);
  slave.configEncoderDigitalFilter(ECAT_ENCODER_3, 100);
  // ...
}

void loop() {
  // ...
}

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

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