attach()

[EtherCAT Device CiA402]

描述

Initialize the object of this EtherCAT SubDevice class and attach it to the object of EthercatMaster class based on the ID of the SubDevice on the network.

語法

int attach(uint16_t slave_id, EthercatMaster *master, EthercatAttachMode mode = ECAT_SLAVE_NO);

int attach(uint16_t slave_id, EthercatMaster &master, EthercatAttachMode mode = ECAT_SLAVE_NO);

int attach(uint16_t slave_id, uint8_t drive_id, EthercatMaster *master, EthercatAttachMode mode = ECAT_SLAVE_NO);

int attach(uint16_t slave_id, uint8_t drive_id, EthercatMaster &master, EthercatAttachMode mode = ECAT_SLAVE_NO);

參數

• [in] slave_id
  The ID of the SubDevice on the EtherCAT bus. The definition of this ID is determined based on the mode parameter.
• [in] drive_id
  The ID of CiA 402 drive in the EtherCAT SubDevice. Typically used when a single EtherCAT SubDevice has multiple CiA 402 drive axes.
• [in] master
  The object of EthercatMaster class to which it should be attached.
• [in] mode
  The definition of slave_id :
  • ECAT_SLAVE_NO
    The sequence number of the EtherCAT SubDevice on the network, 0 indicates the first SubDevice, 1 indicates the second SubDevice, and so on.
  • ECAT_ALIAS_ADDRESS
    The alias address of the SubDevice on the network, which is defined at byte offset 8 in the SII EEPROM of the SubDevice.

回傳值

Return an error code. If the returned value is zero, it indicates a successful execution of this function.

備註

This function must be called after a successful execution of EthercatMaster::begin().
WARNING: Prohibited from being called in the callback functions.

範例程式碼

Single-axis CiA 402 EtherCAT Servo Drive

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_CiA402 motor;

void setup() { 
  master.begin(); 
  motor.attach(0, master);

}

void loop() {
 // put your main code here, to run repeatedly:

}

Multi-axis CiA 402 EtherCAT Servo Drive

#include "Ethercat.h"

EthercatMaster master; 
EthercatDevice_CiA402 motor1; 
EthercatDevice_CiA402 motor2; 
EthercatDevice_CiA402 motor3;

void setup() { 
  master.begin(); 
  motor1.attach(0, 0, master);
  motor2.attach(0, 1, master);
  motor3.attach(0, 2, master);

}

void loop() {
 // put your main code here, to run repeatedly:

}

Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.