EthercatDevice_DmpStepper.configMachineHomingDirection()

[EthercatDevice_DmpStepper_Generic]

描述

Configure the homing direction of the specified machine axis on the EtherCAT slave device in G-code Controller mode. This parameter is written to the EEPROM of the EtherCAT slave device and loaded during startup, so users do not need to configure this parameter each time before running the program.

衍生類別：

語法

int configMachineHomingDirection(int machine_axis, bool positive);

參數

• [in] int machine_axis
  The specified machine axis number on the EtherCAT slave device:

• [in] bool positive
  A Boolean value used to configure the homing direction.
  • true: Search for the home switch in the positive direction.
  • false: Search for the home switch in the negative direction.

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(). 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);

  slave.configMachineHomingDirection(ECAT_MACHINE_X_AXIS, false);
  slave.configMachineHomingDirection(ECAT_MACHINE_Y_AXIS, false);
  slave.configMachineHomingDirection(ECAT_MACHINE_Z_AXIS, false);
  // ...
}

void loop() {
  // ...
}

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