[EthercatDevice_DmpStepper_Generic]
Description
Configure the polarity of the input pins for the specified encoder on the EtherCAT slave device. 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:
| Class Name | Vendor ID | Product Code |
| EthercatDevice_QECR11MP3S | 0x00000bc3 | 0x0086d0d6 |
| EthercatDevice_QECR00MP3S | 0x00000bc3 | 0x0086d0d9 |
Syntax
int configEncoderInputPolarity(int encoder, bool pin_a, bool pin_b, bool pin_z);
Parameters
[in] int encoder
The specified encoder number:
| Definition | Value | Description |
| ECAT_ENCODER_1 | 0x01 | Encoder 1 on the EtherCAT slave device. |
| ECAT_ENCODER_2 | 0x02 | Encoder 2 on the EtherCAT slave device. |
| ECAT_ENCODER_3 | 0x03 | Encoder 3 on the EtherCAT slave device. |
| ECAT_ENCODER_X | 0x11 | Encoder X, which mapping is determined by the configMachineAxisMapping(). |
| ECAT_ENCODER_Y | 0x12 | Encoder Y, which mapping is determined by the configMachineAxisMapping(). |
| ECAT_ENCODER_Z | 0x13 | Encoder Z, which mapping is determined by the configMachineAxisMapping(). |
[in] bool pin_a
The polarity of input pin A for the specified encoder to be configured.- true: High voltage represents logic 1, while low voltage represents logic 0.
- false: High voltage represents logic 0, while low voltage represents logic 1.
[in] bool pin_b
The polarity of input pin B for the specified encoder to be configured. The explanation for the input value is the same as pin_a.[in] bool pin_z
The polarity of input pin Z for the specified encoder to be configured. The explanation for the input value is the same as pin_a.
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.configEncoderInputPolarity(ECAT_ENCODER_1, true, true, true);
slave.configEncoderInputPolarity(ECAT_ENCODER_2, true, true, true);
slave.configEncoderInputPolarity(ECAT_ENCODER_3, true, true, true);
// ...
}
void loop() {
// ...
}Please see EthercatDevice_DmpStepper_Generic Class for more QEC Stepper Drivers instructions and API usage.
