[EthercatDevice_DmpStepper_Generic]
Description
Configure the PPU (Pulse Per Unit) of the specified machine axis on the EtherCAT slave device in G-code Controller mode. This parameter defines the relationship between the movement of the machine and the motors. 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 configMachinePPU(int machine_axis, double pulses_per_mm);
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 pulses_per_mm
The PPU to be configured is in pulses per millimeter.
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.configMachinePPU(ECAT_MACHINE_X_AXIS, 100);
slave.configMachinePPU(ECAT_MACHINE_Y_AXIS, 100);
slave.configMachinePPU(ECAT_MACHINE_Z_AXIS, 100);
// ...
}
void loop() {
// ...
}Please see EthercatDevice_DmpStepper_Generic Class for more QEC Stepper Drivers instructions and API usage.
