[EthercatDevice_DmpStepper_Generic]
Description
Write the counter of the specified encoder on the EtherCAT slave device.
Derived Class:
| Class Name | Vendor ID | Product Code |
| EthercatDevice_QECR11MP3S | 0x00000bc3 | 0x0086d0d6 |
| EthercatDevice_QECR00MP3S | 0x00000bc3 | 0x0086d0d9 |
Syntax
int encoderWrite(int encoder, int32_t value);
Parameters
[in] int encoder
The specified encoder number:
| Definition | Value | Description |
| ECAT_ENCODER_1 | 0x01 | Encoder 1 on the EtherCAT slave device. |
| ECAT_ENCODER_2 | 0x02 | Encoder 2 on the EtherCAT slave device. |
| ECAT_ENCODER_3 | 0x03 | Encoder 3 on the EtherCAT slave device. |
| ECAT_ENCODER_X | 0x11 | Encoder X, which mapping is determined by the configMachineAxisMapping(). |
| ECAT_ENCODER_Y | 0x12 | Encoder Y, which mapping is determined by the configMachineAxisMapping(). |
| ECAT_ENCODER_Z | 0x13 | Encoder Z, which mapping is determined by the configMachineAxisMapping(). |
[in] int32_t value
The value to be written.
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.encoderWrite(ECAT_ENCODER_1, 100);
slave.encoderWrite(ECAT_ENCODER_2, 100);
slave.encoderWrite(ECAT_ENCODER_3, 100);
master.start();
}
void loop() {
// ...
}Please see EthercatDevice_DmpStepper_Generic Class for more QEC Stepper Drivers instructions and API usage.
