[EthercatDevice_DmpStepper_Generic]
Description
Configure the mapping between mechanical axes and motors for 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. After calling this function, the mapping will not change immediately. The EtherCAT slave device must be repowered for the change to take effect.
Derived Class:
| Class Name | Vendor ID | Product Code |
| EthercatDevice_QECR11MP3S | 0x00000bc3 | 0x0086d0d6 |
| EthercatDevice_QECR00MP3S | 0x00000bc3 | 0x0086d0d9 |
Syntax
int configMachineAxisMapping(uint8_t mapping);
Parameters
[in] uint8_t mapping
The mapping of the mechanical axis to be configured. The EtherCAT slave device offers the following mapping options:
| Code | X-axis | Y-axis | Z-axis |
| 0 | Motor 1 | Motor 2 | Motor 3 |
| 1 | Motor 1 | Motor 3 | Motor 2 |
| 2 | Motor 2 | Motor 1 | Motor 3 |
| 3 | Motor 2 | Motor 3 | Motor 1 |
| 4 | Motor 3 | Motor 1 | Motor 2 |
| 5 | Motor 3 | Motor 2 | Motor 1 |
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 Cyclic Callback.
Example
#include "Ethercat.h"
EthercatMaster master;
EthercatDevice_QECR11MP3S slave;
void setup() {
master.begin();
slave.attach(0, master);
slave.configMachineAxisMapping(0);
}
void loop() {
// ...
}Please see EthercatDevice_DmpStepper_Generic Class for more QEC Stepper Drivers instructions and API usage.
