EthercatDevice_DmpStepper.configEncoderRange()

[EthercatDevice_DmpStepper_Generic]

Description

Configure the maximum value of the counter for the specified encoder on the EtherCAT slave device. As shown in the figure, upon reaching its maximum value (M), the counter overflows, resets to zero, and triggers an Overflow event. Conversely, when the counter decrements to zero, it underflows, resets to the maximum value, and triggers an Underflow event. 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 configEncoderRange(int encoder, uint32_t value);

Parameters

• [in] int encoder
  The specified encoder number:

• [in] uint32_t value
  The maximum value of the encoder counter to be configured.

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.configEncoderRange(ECAT_ENCODER_1, 8000);
  slave.configEncoderRange(ECAT_ENCODER_2, 8000);
  slave.configEncoderRange(ECAT_ENCODER_3, 8000);
  // ...
}

void loop() {
  // ...
}

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