[EthercatDevice_DmpStepper_Generic]
Description
Set the homing speed of the specified machine axis on the EtherCAT slave device.
Derived Class:
| Class Name | Vendor ID | Product Code |
| EthercatDevice_QECR11MP3S | 0x00000bc3 | 0x0086d0d6 |
| EthercatDevice_QECR00MP3S | 0x00000bc3 | 0x0086d0d9 |
Syntax
int machineSetHomingSpeed(int machine_axis, double mm_per_min);
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(). |
[in] double mm_per_min
The desired homing speed in millimeters per minute.
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::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);
slave.machineSetHomingSpeed(ECAT_MACHINE_X_AXIS, 3000);
slave.machineSetHomingSpeed(ECAT_MACHINE_Y_AXIS, 3000);
slave.machineSetHomingSpeed(ECAT_MACHINE_Z_AXIS, 3000);
master.attachCyclicCallback(CyclicCallback);
master.start();
slave.machineServoOn();
while (slave.machineIsServoOn() == 0);
slave.machineStartHoming();
delay(10);
while (!slave.machineIsHomingAttained());
// ..
slave.machineServoOff();
while (slave.machineIsServoOn() == 1);
}
void loop() {
// ...
}Please see EthercatDevice_DmpStepper_Generic Class for more QEC Stepper Drivers instructions and API usage.
