EthercatDevice_DmpStepper.machineIsMoving()

[EthercatDevice_DmpStepper_Generic]

描述

Check if the machine on the EtherCAT slave device is moving.

衍生類別：

語法

int machineIsMoving();

參數

無

回傳值

Return whether the machine is moving.

• 1 means the Machine is moving.
• 0 means none.

If the return value is less than 0, it indicates an 錯誤代碼.

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().

範例

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_QECR11MP3S slave;

void CyclicCallback() {
  slave.update();
}

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

  slave.machineServoOn();
  while (slave.machineIsServoOn() == 0);

  slave.machineGcode("G1 X0 Y0 Z0");
  slave.machineGcode("G1 X100 Y50 Z25");
  delay(10);
  while (slave.machineIsMoving());
  // ...

  slave.machineServoOff();
  while (slave.machineIsServoOn() == 1);
}

void loop() {
  // ...
}

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