[EthercatDevice_DmpStepper_Generic]
Description
Check if the limit switch of the specified machine axis on the EtherCAT slave device is touched.
Derived Class:
| Class Name | Vendor ID | Product Code |
| EthercatDevice_QECR11MP3S | 0x00000bc3 | 0x0086d0d6 |
| EthercatDevice_QECR00MP3S | 0x00000bc3 | 0x0086d0d9 |
Syntax
int machineIsLimitTouched(int machine_axis);
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(). |
Return Value
Return whether the limit switch of the specified machine axis is touched.
- 1 means the Machine Limit Switch is touched.
- 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 CyclicCallback() {
slave.update();
}
void setup() {
Serial.begin(115200);
master.begin();
slave.attach(0, master);
master.attachCyclicCallback(CyclicCallback);
master.start();
}
void loop() {
Serial.print("Limit Switch => ");
Serial.print("X: ");
Serial.print(slave.machineIsLimitTouched(ECAT_MACHINE_X_AXIS));
Serial.print(", Y: ");
Serial.print(slave.machineIsLimitTouched(ECAT_MACHINE_Y_AXIS));
Serial.print(", Z: ");
Serial.println(slave.machineIsLimitTouched(ECAT_MACHINE_Z_AXIS));
delay(1000);
// ...
}Please see EthercatDevice_DmpStepper_Generic Class for more QEC Stepper Drivers instructions and API usage.
