[EthercatDevice_DmpStepper_Generic]
描述
Enable the software limit function for the machine on the EtherCAT slave device. For more information about software limits, please refer to configMachineSoftLimit().
衍生類別：
| Class Name | Vendor ID | Product Code |
| EthercatDevice_QECR11MP3S | 0x00000bc3 | 0x0086d0d6 |
| EthercatDevice_QECR00MP3S | 0x00000bc3 | 0x0086d0d9 |
語法
int machineEnableSoftLimit();
參數
無
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::start() and before EthercatMaster::stop(). This function is blocking and cannot be called within the callback functions.
This function only works in G-code Controller mode on the EtherCAT slave device. For more details, please refer to configDeviceMode(). This function does not work in the following case:
- The machine is servo-off.
範例
#include "Ethercat.h"
EthercatMaster master;
EthercatDevice_QECR11MP3S slave;
void CyclicCallback() {
slave.update();
}
void setup() {
Serial.begin(115200);
master.begin();
slave.attach(0, master);
slave.configMachineSoftLimit(ECAT_MACHINE_X_AXIS, -50, 50);
slave.configMachineSoftLimit(ECAT_MACHINE_Y_AXIS, -50, 50);
slave.configMachineSoftLimit(ECAT_MACHINE_Z_AXIS, -50, 50);
master.attachCyclicCallback(CyclicCallback);
master.start();
slave.machineServoOn();
while (slave.machineIsServoOn() == 0);
slave.machineEnableSoftLimit();
slave.machineGcode("G1 X-100 Y-100 Z-100");
slave.machineGcode("G1 X100 Y100 Z100");
delay(10);
while (slave.machineIsMoving()) {
Serial.print("Acutal Position => ");
Serial.print("X: ");
Serial.print(slave.machineActualPosition(ECAT_MACHINE_X_AXIS), 2);
Serial.print(", Y: ");
Serial.print(slave.machineActualPosition(ECAT_MACHINE_Y_AXIS), 2);
Serial.print(", Z: ");
Serial.println(slave.machineActualPosition(ECAT_MACHINE_Z_AXIS), 2);
delay(10);
// ...
}
slave.machineServoOff();
while (slave.machineIsServoOn() == 1);
}
void loop() {
// ...
}Please see EthercatDevice_DmpStepper_Generic 類別 for more QEC Stepper Drivers instructions and API usage.
