EthercatDevice_DmpStepper.attach()

[EthercatDevice_DmpStepper_Generic]

描述

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

衍生類別：

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);

參數

• [in] uint16_t slave_id
  The ID of the slave device on the EtherCAT bus. The definition of this ID is determined based on the mode parameter.
• [in] EthercatMaster *master
  The object of EthercatMaster class to which it should be attached.
• [in] EthercatAttachMode mode
  The definition of slave_id:
  • ECAT_SLAVE_NO
    The sequence number of the EtherCAT slave device on the network, 0 indicates the first slave device, 1 indicates the second slave device, and so on.
  • ECAT_ALIAS_ADDRESS
    The alias address of the slave device on the network, which is defined at byte offset 8 in the SII EEPROM of the slave device.

回傳值

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

備註

The function must be called after EthercatMaster::begin() and before EthercatMaster::start(). This function is blocking and cannot be called within the Cyclic Callback.

範例

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_QECR11MP3S slave;

void setup() {
    master.begin();
    slave.attach(0, master);
    master.start();
}

void loop() {
  // ...
}

Please see EthercatDevice_DmpStepper_Generic 類別 for more QEC Stepper Drivers instructions and API usage.