[EthercatDevice_DmpStepper_Generic]
Description
Configure the default homing speed of the specified machine axis on the EtherCAT slave device in G-code Controller mode. This default homing speed will be used for homing operations if the user has not yet specified a homing speed for each axis using the machineSetHomingSpeed() function. 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 configMachineDefaultHomingSpeed(int machine_axis, double mm_per_min);
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] double mm_per_min
The default homing speed to be configured is in millimeters per minute.
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.configMachineDefaultHomingSpeed(ECAT_MACHINE_X_AXIS, 1000);
slave.configMachineDefaultHomingSpeed(ECAT_MACHINE_Y_AXIS, 1000);
slave.configMachineDefaultHomingSpeed(ECAT_MACHINE_Z_AXIS, 1000);
// ...
}
void loop() {
// ...
}Please see EthercatDevice_DmpStepper_Generic Class for more QEC Stepper Drivers instructions and API usage.
