[EthercatDevice_DmpStepper_Generic]
Description
Configure the motor direction of the specified machine axis on the EtherCAT slave device in G-code Controller 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:
| Class Name | Vendor ID | Product Code |
| EthercatDevice_QECR11MP3S | 0x00000bc3 | 0x0086d0d6 |
| EthercatDevice_QECR00MP3S | 0x00000bc3 | 0x0086d0d9 |
Syntax
int configMachineAxisDirection(int machine_axis, int invert);
Parameters
[in] int machine_axis
The specified machine axis number on the EtherCAT slave device:
| Definition | Value | Description |
| ECAT_MACHINE_X_AXIS | 0 | X-axis, which mapping is determined by the configMachineAxisMapping(). |
| ECAT_MACHINE_Y_AXIS | 1 | Y-axis, which mapping is determined by the configMachineAxisMapping(). |
| ECAT_MACHINE_Z_AXIS | 2 | Z-axis, which mapping is determined by the configMachineAxisMapping(). |
[in] int invert
The motor direction to be configured. A value of 0 indicates normal direction, while any other value indicates inverted direction.
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.configMachineAxisDirection(ECAT_MACHINE_X_AXIS, 0);
slave.configMachineAxisDirection(ECAT_MACHINE_Y_AXIS, 0);
slave.configMachineAxisDirection(ECAT_MACHINE_Z_AXIS, 0);
// ...
}
void loop() {
// ...
}Please see EthercatDevice_DmpStepper_Generic Class for more QEC Stepper Drivers instructions and API usage.
