[EthercatDevice_DmpStepper_Generic]
Description
Check if the machine on the EtherCAT slave device is servo-on.
Derived Class:
| Class Name | Vendor ID | Product Code |
| EthercatDevice_QECR11MP3S | 0x00000bc3 | 0x0086d0d6 |
| EthercatDevice_QECR00MP3S | 0x00000bc3 | 0x0086d0d9 |
Syntax
int machineIsServoOn();
Parameters
None.
Return Value
Return whether the machine is servo-on.
- 1 means the Machine is Servo-on.
- 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() {
master.begin();
slave.attach(0, master);
master.attachCyclicCallback(CyclicCallback);
master.start();
slave.machineServoOn();
while (slave.machineIsServoOn() == 0);
delay(1000);
// ..
slave.machineServoOff();
while (slave.machineIsServoOn() == 1);
}
void loop() {
// ...
}Please see EthercatDevice_DmpStepper_Generic Class for more QEC Stepper Drivers instructions and API usage.
