EthercatDevice_DmpStepper.cia402GetServo()

[EthercatDevice_DmpStepper_Generic]

描述

Initialize the EthercatDevice_CiA402 object for the specified motor with the given identifier on the EtherCAT slave device and return a pointer to the initialized EthercatDevice_CiA402 object.

衍生類別：

語法

EthercatDevice_CiA402 *cia402GetServo(int motor, EthercatDevice_CiA402 *servo = NULL);

參數

• [in] int motor
  The specified motor number on the EtherCAT slave device:
  • 1: Motor 1.
  • 2: Motor 2.
  • 3: Motor 3.
• [in] EthercatDevice_CiA402 *servo
  The pointer to an object of the EthercatDevice_CiA402 class declared by the user. If this parameter is NULL, initialize it with an object of the EthercatDevice_CiA402 class from the library and return a pointer to that object. Otherwise, initialize it with a pointer to an object of the EthercatDevice_CiA402 class provided by the user and return that pointer.

回傳值

Return an object pointer of the EthercatDevice_CiA402 class.

備註

This function must be called after a successful execution of EthercatMaster::begin(). This function only works in CiA 402 on the EtherCAT slave device. For more details, please refer to configDeviceMode().
WARNING: Prohibited from being called within the callback functions.

範例

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_QECR11MP3S slave;
EthercatDevice_CiA402 motor1;
EthercatDevice_CiA402 motor2;

EthercatDevice_CiA402 *pMotor[3];

void setup() {
  master.begin();
  slave.attach(0, master);
  pMotor[0] = slave.cia402GetServo(1, &motor1);
  pMotor[1] = slave.cia402GetServo(2, &motor2);
  pMotor[2] = slave.cia402GetServo(3);
}

void loop() {
  // ...
}

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