EthercatDevice_DmpStepper.machineSetHomingSpeed()

[EthercatDevice_DmpStepper_Generic]

描述

Set the homing speed of the specified machine axis on the EtherCAT slave device.

衍生類別：

語法

int machineSetHomingSpeed(int machine_axis, double mm_per_min);

參數

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

• [in] double mm_per_min
  The desired homing speed in millimeters per minute.

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().

範例

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_QECR11MP3S slave;

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

void setup() {
  master.begin();
  slave.attach(0, master);
  slave.machineSetHomingSpeed(ECAT_MACHINE_X_AXIS, 3000);
  slave.machineSetHomingSpeed(ECAT_MACHINE_Y_AXIS, 3000);
  slave.machineSetHomingSpeed(ECAT_MACHINE_Z_AXIS, 3000);
  master.attachCyclicCallback(CyclicCallback);
  master.start();

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

  slave.machineStartHoming();
  delay(10);
  while (!slave.machineIsHomingAttained());
  // ..

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

void loop() {
  // ...
}

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