Delta EtherCAT User Manual

General Operation of Motion Axis EtherCAT Programming Guide
8-2 March, 2017
8
API list of general operation of motion axis
Function name Description
_ECAT_Slave_Motion_Set_Svon
Set the servo to On/Off state.
_ECAT_Slave_Motion_Ralm
Reset the alarm of the axis. Before applying this
command, please clear the alarm first. Otherwise,
the alarm might occur again.
_ECAT_Slave_Motion_Sd_Stop
Set the deceleration time for motor to decelerate
to stop
_ECAT_Slave_Motion_Emg_Stop
This is for emergency stop of the axis. The motor
will stop with its maximum deceleration
_ECAT_Slave_Motion_Set_Alm_Reaction
Set the action when alarm occurs
_ECAT_Slave_Motion_Set_Position
Specify current feedback position of the axis
_ECAT_Slave_Motion_Set_Command
Set the motion command data of the axis
_ECAT_Slave_Motion_Set_MoveMode
Set the motion mode of the axis
_ECAT_Slave_Motion_Get_MoveMode
Acquire the information of current motion mode
_ECAT_Slave_Motion_Get_ControlWord
Acquire the current control word of the axis
_ECAT_Slave_Motion_Get_StatusWord
Acquire the current status word of the axis.
_ECAT_Slave_Motion_Get_Mdone
Acquire the current status of motion done
_ECAT_Slave_Motion_Get_Position
Acquire the current position of the axis.
_ECAT_Slave_Motion_Get_Command
Acquire the current command information
_ECAT_Slave_Motion_Get_Target_Command
Acquire the target command data of the axis
_ECAT_Slave_Motion_Get_Actual_Position
Acquire the actual position command of the axis
_ECAT_Slave_Motion_Get_Actual_Command
Acquire the current command data. The data will
vary with to the applied motion mode.
_ECAT_Slave_Motion_Get_Current_Speed
Acquire the current speed of the axis
_ECAT_Slave_Motion_Get_Torque
Acquire the feedback torque from the motor
_ECAT_Slave_Motion_Get_Buffer_Length
Acquiring the quantity of the commands that have
not been carried out
_ECAT_Slave_Motion_Set_TouchProbe_Config
Set the mode of the first Touch Probe function
(Touch Probe 1)
_ECAT_Slave_Motion_Set_TouchProbe_QuickStart
Enable the first Touch Probe function (Touch
Probe 1)
_ECAT_Slave_Motion_Set_TouchProbe_QuickDone
Execute the first Touch Probe function (Touch
Probe 1) again
_ECAT_Slave_Motion_Set_TouchProbe_Disable
Disable the first Touch Probe function (Touch
Probe 1)
_ECAT_Slave_Motion_Get_TouchProbe_Status
Acquire the current status of the first Touch Probe
function (Touch Probe 1)
_ECAT_Slave_Motion_Get_TouchProbe_Position
Acquire the current position of first Touch Probe
function (Touch Probe 1)

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English