EthercatDevice_DmpStepper.machineIsEmergencyStopped()

[EthercatDevice_DmpStepper_Generic]

Description

Check if the machine on the EtherCAT slave device is emergency stopped. There are two primary conditions that can trigger the emergency stop:

• Hardware emergency stop
  This occurs when the hardware emergency stop switch is physically activated. This switch is typically a physical button located on the machine. It is designed to halt the machine’s operation in case of an immediate safety hazard.
• User-initiated emergency stop
  This occurs when the user calls the machineSetEmergencyStop() function. This function is typically used to manually activate the emergency stop state, often through a software interface or control panel.

Derived Class:

Syntax

int machineIsEmergencyStopped();

Parameters

None.

Return Value

Return whether the machine is emergency stopped.

• 1 means the Machine is in the Emergency Stop.
• 0 means none.

If the return value is less than 0, it indicates an error code.

Comment

This function must be called after a successful execution of EthercatMaster::start() and before EthercatMaster::stop(). This function is blocking and cannot be called within the callback functions.

This function only works in G-code Controller mode on the EtherCAT slave device. For more details, please refer to configDeviceMode().

Example

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_QECR11MP3S slave;

void setup() {
  Serial.begin(115200);

  master.begin();
  slave.attach(0, master);
  master.start();
}

void loop() {
  Serial.print("Emergency Stopped: ");
  Serial.println(slave.machineIsEmergencyStopped());
  delay(1000);
  //...
}

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