EthercatDevice_DmpStepper.configEncoderIndexReset()

[EthercatDevice_DmpStepper_Generic]

Description

Enable or disable the index signal reset counter function for the specified encoder on the EtherCAT slave device. As shown in the figure, upon enabling this function, the counter will be reset to zero and the Index Reset event will be triggered when the index signal (signal Z) is detected. 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 configEncoderIndexReset(int encoder, bool enable);

Parameters

• [in] int encoder
  The specified encoder number:

• [in] bool enable
  A boolean value that specifies whether to enable or disable the index signal reset function for the specified encoder.
  • true: The index signal reset function will be enabled.
  • false: The index signal reset function will be disabled.

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.configEncoderIndexReset(ECAT_ENCODER_1, false);
  slave.configEncoderIndexReset(ECAT_ENCODER_2, false);
  slave.configEncoderIndexReset(ECAT_ENCODER_3, false);
  // ...
}

void loop() {
  // ...
}

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