March, 2017
Table of Contents
Introduction to API Library
1.1 How to use function libraries? ··············································································· 1-2
1.2 Start a new project ······························································································ 1-2
1.2.1 Using VC ······································································································ 1-2
1.2.2 Using VB ······································································································ 1-2
1.2.3 Using VB.Net ································································································ 1-2
1.2.4 Using C# ······································································································ 1-3
EtherCAT Introduction
2.1 Maximum number of the slave device ····································································· 2-2
2.2 Initialize RTX runtime environment ········································································· 2-3
2.3 Introduction to RTSS Task Manager ······································································· 2-4
EtherCAT Operation Example
3.1 EtherCAT Initialization ························································································· 3-3
3.1.1 Function list ·································································································· 3-3
3.1.2 Application examples ······················································································ 3-3
3.2 Motion control of homing ······················································································ 3-6
3.2.1 Function list ·································································································· 3-6
3.2.2 Application examples ······················································································ 3-6
3.3 Torque control ···································································································· 3-9
3.3.1 Function list ·································································································· 3-9
3.3.2 Application examples ······················································································ 3-9
3.4 Constant speed control ······················································································ 3-12
3.4.1 Function list ································································································ 3-12
3.4.2 Application examples ···················································································· 3-12
3.5 Motion control in PP mode ·················································································· 3-16
3.5.1 Function list ································································································ 3-16
3.5.2 Application examples ···················································································· 3-16
3.6 Motion control in CSP mode ··············································································· 3-20
3.6.1 Function list ································································································ 3-20
3.6.2 Application examples ···················································································· 3-21
3.7 EtherCAT Slave IO control (digital input) ································································ 3-38
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