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EthercatDevice_DmpStepper.configMachineHomingDirection()

[EthercatDevice_DmpStepper_Generic]

Description

Configure the homing 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 NameVendor IDProduct Code
EthercatDevice_QECR11MP3S0x00000bc30x0086d0d6
EthercatDevice_QECR00MP3S0x00000bc30x0086d0d9

Syntax

int configMachineHomingDirection(int machine_axis, bool positive);

Parameters

  • [in] int machine_axis
    The specified machine axis number on the EtherCAT slave device:
DefinitionValueDescription
ECAT_MACHINE_X_AXIS0X-axis, which mapping is determined by the configMachineAxisMapping().
ECAT_MACHINE_Y_AXIS1Y-axis, which mapping is determined by the configMachineAxisMapping().
ECAT_MACHINE_Z_AXIS2Z-axis, which mapping is determined by the configMachineAxisMapping().
  • [in] bool positive
    A Boolean value used to configure the homing direction.
    • true: Search for the home switch in the positive direction.
    • false: Search for the home switch in the negative 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 Cyclic Callback.

Example

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_QECR11MP3S slave;

void setup() {
  master.begin();
  slave.attach(0, master);

  slave.configMachineHomingDirection(ECAT_MACHINE_X_AXIS, false);
  slave.configMachineHomingDirection(ECAT_MACHINE_Y_AXIS, false);
  slave.configMachineHomingDirection(ECAT_MACHINE_Z_AXIS, false);
  // ...
}

void loop() {
  // ...
}

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

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