[EthercatDevice_Dmp]
EthercatDevice_DmpStepper_Generic 是針對 DM&P Group 的 3 軸步進馬達控制器 EtherCAT 從站模組所開發的 EtherCAT 從站類別。此模組具有馬達驅動器、編碼器輸入及其他 CNC 相關功能。在馬達控制部分，它不僅支援 CiA 402 模式，也支援三軸同步 G-code 模式。
The class relationships of EthercatDevice_DmpStepper_Generic are illustrated in the following diagram:
- EthercatDevice_DmpStepper_Generic inherits from _EthercatDevice_DmpCommonDriver.
- EthercatDevice_DmpStepper_Generic is composed of EthercatDevice_CiA402.
基本類別：
- _EthercatDevice_CommonDriver
衍生類別：
| Class Name | Vendor ID | Product Code |
| EthercatDevice_QECR11MP3S | 0x00000bc3 | 0x0086d0d6 |
| EthercatDevice_QECR00MP3S | 0x00000bc3 | 0x0086d0d9 |
參數資訊 ( Parameter Information )
機器軸心 ( Machine Axis )
ECAT_MACHINE_X_AXIS (0)ECAT_MACHINE_Y_AXIS (1)ECAT_MACHINE_Z_AXIS (2)
編碼器清單 ( Encoder List )
ECAT_ENCODER_1 (0x01)ECAT_ENCODER_2 (0x02)ECAT_ENCODER_3 (0x03)ECAT_ENCODER_X (0x11)ECAT_ENCODER_Y (0x12)ECAT_ENCODER_Z (0x13)
索引清單 ( Index List )
ECAT_EMERGENCY_STOPPED (1)ECAT_MACHINE_X_AXIS_LIMIT_TOUCHED (2)ECAT_MACHINE_Y_AXIS_LIMIT_TOUCHED (3)ECAT_MACHINE_Z_AXIS_LIMIT_TOUCHED (4)IS_ECAT_ENCODER_1_INDEX_RESET(event) (((event) & 0x00000300) == 0x00000100)IS_ECAT_ENCODER_2_INDEX_RESET(event) (((event) & 0x00000C00) == 0x00000400)IS_ECAT_ENCODER_3_INDEX_RESET(event) (((event) & 0x00003000) == 0x00001000)IS_ECAT_ENCODER_X_INDEX_RESET(event) (((event) & 0x0000C000) == 0x00004000)IS_ECAT_ENCODER_Y_INDEX_RESET(event) (((event) & 0x00030000) == 0x00010000)IS_ECAT_ENCODER_Z_INDEX_RESET(event) (((event) & 0x000C0000) == 0x00040000)IS_ECAT_ENCODER_1_OVERFLOW(event) (((event) & 0x00000300) == 0x00000200)IS_ECAT_ENCODER_2_OVERFLOW(event) (((event) & 0x00000C00) == 0x00000800)IS_ECAT_ENCODER_3_OVERFLOW(event) (((event) & 0x00003000) == 0x00002000)IS_ECAT_ENCODER_X_OVERFLOW(event) (((event) & 0x0000C000) == 0x00008000)IS_ECAT_ENCODER_Y_OVERFLOW(event) (((event) & 0x00030000) == 0x00020000)IS_ECAT_ENCODER_Z_OVERFLOW(event) (((event) & 0x000C0000) == 0x00080000)IS_ECAT_ENCODER_1_UNDERFLOW(event) (((event) & 0x00000300) == 0x00000300)IS_ECAT_ENCODER_2_UNDERFLOW(event) (((event) & 0x00000C00) == 0x00000C00)IS_ECAT_ENCODER_3_UNDERFLOW(event) (((event) & 0x00003000) == 0x00003000)IS_ECAT_ENCODER_X_UNDERFLOW(event) (((event) & 0x0000C000) == 0x0000C000)IS_ECAT_ENCODER_Y_UNDERFLOW(event) (((event) & 0x00030000) == 0x00030000)IS_ECAT_ENCODER_Z_UNDERFLOW(event) (((event) & 0x000C0000) == 0x000C0000)
初始化函式
EthercatDevice_DmpStepper_Generic 類別的初始化相關函式。
控制函式 ( Control Functions )
EthercatDevice_DmpStepper_Generic 類別的控制函式。
CiA 402 函式 ( CiA 402 Functions )
EthercatDevice_DmpStepper_Generic 類別的 CIA 402函式
機械函數 ( Machine Functions )
EthercatDevice_DmpStepper_Generic 類別的機械函式。
- machineEnableSoftLimit()
- machineDisableSoftLimit()
- machineIsEmergencyStopped()
- machineSetEmergencyStop()
- machineClearEmergencyStop()
- machineIsLimitTouched()
- machineIsHomingAttained()
- machineIsServoOn()
- machineIsMoving()
- machineServoOn()
- machineServoOff()
- machineSetHomingSpeed()
- machineStartHoming()
- machineGcode()
- machineActualPosition()
編碼器函式 ( Encoder Functions )
EthercatDevice_DmpStepper_Generic 類別的編碼器函式。
設置函數 ( Configuration Functions )
EthercatDevice_DmpStepper_Generic 類別的設置函式。
- getDeviceMode()
- configDeviceMode()
- configCiA402MotorResolution()
- configMachineAxisMapping()
- configMachineDefaultFeedrate()
- configMachineDefaultHomingSpeed()
- configMachineHomingDirection()
- configMachineHomingPriority()
- configMachineMaxVelocity()
- configMachineMaxAcceleration()
- configMachineSoftLimit()
- configMachinePPU()
- configMachineAxisDirection()
- configEncoderMode()
- configEncoderDigitalFilter()
- configEncoderRange()
- configEncoderInputPolarity()
- configEncoderIndexReset()
Please see the EtherCAT Library User Manual for more QEC EtherCAT instructions and API usage.
