Delta EtherCAT User Manual

EtherCAT Programming Guide General Operation of Motion Axis
March, 2017 8-7
8
8.5 _ECAT_Slave_Motion_Set_Alm_Reaction

Syntax
U16 PASCAL _ECAT_Slave_Motion_Set_Alm_Reaction (U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 Fault_Type, U16 Waring_Type);

Purpose
This is for setting the action when alarm occurs.
Note: It is also applicable to group function (Please refer to Chapter 17).

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Fault_Type U16 Option
Set the action when error (Fault) occurs.
0: It will not stop or interrupt the new command
automatically.
1: Stop the current action when the rising-edge signal
is triggered. It will not interrupt the new command
automatically.
2: Remain idle status until the error is cleared.
Waring_Type U16 Option
Set the action when warning occurs.
0: It will not stop nor interrupt new command
automatically.
1: Stop the current action when the rising edge
triggered. It will not interrupt the new command
automatically.
2: Remain at idle unless the warning is cleared.

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I16 Fault_Type = 2, Waring_Type = 1;
Status = _ECAT_Slave_Motion_Set_Alm_Reaction (CardNo, AxisNo, SlotNo, Fault_Type,
Waring_Type);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English