EthercatDevice_DmpStepper.configMachineSoftLimit()

[EthercatDevice_DmpStepper_Generic]

Description

Configure the software limit of the specified machine axis on the EtherCAT slave device in G-code Controller mode. These parameters are written to the EEPROM of the EtherCAT slave device and loaded during startup, so users do not need to configure these parameters each time before running the program.

Upon receiving a movement command from the user calling machineGcode(), the EtherCAT slave device internally calculates the target position for each axis.

• If the target position P for an axis is greater than the maximum position value P_max for that axis, then P will be adjusted to P_max.
• If the target position P for an axis is less than the minimum position value P_min for that axis, then P will be adjusted to P_min.

Derived Class:

Syntax

int configMachineSoftLimit(int machine_axis, double min, double max);

Parameters

• [in] int machine_axis
  The specified machine axis number on the EtherCAT slave device:

• [in] double min
  The minimum position value P_min of the software limit to be configured, in millimeters.
• [in] double max
  The maximum position value P_max of the software limit to be configured, in millimeters.

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.configMachineSoftLimit(ECAT_MACHINE_X_AXIS, 0, 100);
  slave.configMachineSoftLimit(ECAT_MACHINE_Y_AXIS, 0, 100);
  slave.configMachineSoftLimit(ECAT_MACHINE_Z_AXIS, 0, 100);
}

void loop() {
  // ...
}

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