Name: Delta EtherCAT
Brand: Delta
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Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide

9-32

March, 2017

Figure 9.16.3 Set Mode to 2 to change the speed ratio of constant speed for all commands

*Starting from A, NewSpeed is set to 200 so speed of the

current motion command and the ones issued later will be

200% (2 times) of the original speed.

StrVel

Acc.

ConstVel = 1000

ConstVel = 1200

ConstVel = 1100

ConstVel = 2400

ConstVel = 2200

Tsec

When Mode = 2, the

speed ratio is

changed to 200%

Default Chapter2
- Table of Contents2
Introduction to API Library13
- How to Use Function Libraries13
- Start a New Project13
Ethercat Introduction16
- Maximum Number of the Slave Device17
- Initialize RTX Runtime Environment18
- Introduction to RTSS Task Manager19
- Ethercat Operation Example22
- Ethercat Master Configuration88
- Master Initialization104
Ethercat Coe Standard Communication122
- Ecat_Slave_Sdo_Send_Message124
- Ecat_Slave_Sdo_Read_Message125
- Ecat_Slave_Sdo_Quick_Send_Message126
- Ecat_Slave_Sdo_Quick_Read_Message127
- Ecat_Slave_Sdo_Read_Response128
- Ecat_Slave_Sdo_Wait_All_Done129
- Ecat_Slave_Sdo_Get_Errorcode130
- Ecat_Slave_Sdo_Check_Done132
- Ecat_Slave_Pdo_Get_Information135
- Ecat_Slave_Pdo_Get_Rx_Data137
- Ecat_Slave_Pdo_Get_Tx_Data138
- Ecat_Slave_Pdo_Set_Tx_Data139
- Ecat_Slave_Pdo_Set_Tx_Detail_Data140
General Operation of Motion Axis142
- Ecat_Slave_Motion_Set_Svon144
- Ecat_Slave_Motion_Ralm145
- Ecat_Slave_Motion_Sd_Stop146
- Ecat_Slave_Motion_Emg_Stop147
- Ecat_Slave_Motion_Set_Alm_Reaction148
- Ecat_Slave_Motion_Set_Position149
- Ecat_Slave_Motion_Set_Command150
- Ecat_Slave_Motion_Set_Movemode151
- Ecat_Slave_Motion_Get_Movemode152
- Ecat_Slave_Motion_Get_Controlword153
- Ecat_Slave_Motion_Get_Statusword155
- Ecat_Slave_Motion_Get_Mdone157
- Ecat_Slave_Motion_Get_Position158
- Ecat_Slave_Motion_Get_Command159
- Ecat_Slave_Motion_Get_Target_Command160
- Ecat_Slave_Motion_Get_Actual_Position161
- Ecat_Slave_Motion_Get_Actual_Command162
- Ecat_Slave_Motion_Get_Current_Speed163
- Ecat_Slave_Motion_Get_Torque164
- Ecat_Slave_Motion_Get_Buffer_Length165
- Ecat_Slave_Motion_Set_Touchprobe_Config166
- Ecat_Slave_Motion_Set_Touchprobe_Quickstart169
- Ecat_Slave_Motion_Set_Touchprobe_Quickdone171
- Ecat_Slave_Motion_Set_Touchprobe_Disable173
- Ecat_Slave_Motion_Get_Touchprobe_Status174
- Ecat_Slave_Motion_Get_Touchprobe_Position176
Cyclic Synchronous Position Mode (CSP)178
- Ecat_Slave_Csp_Start_Arc_Move185
- Ecat_Slave_Csp_Start_Arc2_Move187
- Ecat_Slave_Csp_Start_Arc3_Move189
- Ecat_Slave_Csp_Start_Spiral_Move191
- Ecat_Slave_Csp_Start_Spiral2_Move192
- Ecat_Slave_Csp_Start_Sphere_Move194
- Ecat_Slave_Csp_Start_Heli_Move195
- Ecat_Slave_Csp_Start_Multiaxes_Move197
- Ecat_Slave_Csp_Start_Msbrline_Move198
- Ecat_Slave_Csp_Set_Gear202
- Ecat_Slave_Csp_Set_Softlimit203
- Ecat_Slave_Csp_Targetpos_Change204
- Ecat_Slave_Csp_Velocity_Change205
- Ecat_Slave_Csp_Feedrate_Overwrite206
- Ecat_Slave_Csp_Feedrate_Overwrite207
- Ecat_Slave_Csp_Speed_Continue_Enable210
- Ecat_Slave_Csp_Speed_Continue_Set_Mode211
- Ecat_Slave_Csp_Speed_Continue_Set_Combine_ Ratio214
- Ecat_Slave_Csp_Scurve_Rate215
- Ecat_Slave_Csp_Liner_Speed_Master216
- Ecat_Slave_Csp_Mask_Axis218
  - Ecat_Slave_Csp_Sync_Config219
  - Ecat_Slave_Csp_Sync_Move220
  - Ecat_Slave_Csp_Start_Mabrline_Move221
  - Ecat_Slave_Csp_Start_2Segment_Move223
  - Ecat_Slave_Csp_Start_Pvt_Move225
  - Ecat_Slave_Csp_Start_Pvtcomplete_Move227
  - Ecat_Slave_Csp_Virtual_Set_Enable229
  - Ecat_Slave_Csp_Virtual_Set_Command230
  - Ecat_Slave_Csp_Get_Softlimit_Status231
  - Ecat_Slave_Csp_Pitch_Set_Interval232
  - Ecat_Slave_Csp_Pitch_Set_Mode233
  - Ecat_Slave_Csp_Pitch_Set_Org234
  - Ecat_Slave_Csp_Pitch_Set_Rel_Table235
  - Ecat_Slave_Csp_Pitch_Set_Abs_Table236
  - Ecat_Slave_Csp_Pitch_Set_Enable237
- Cyclic Synchronous Velocity Mode (CSV)238
  - Ecat_Slave_Csv_Start_Move239
  - Ecat_Slave_Csv_Multi_Start_Move240
- Cyclic Synchronous Torque Mode (CST)242
  - Ecat_Slave_Cst_Start_Move243
  - Ecat_Slave_Cst_Multi_Start_Move244
Homing246
- Ecat_Slave_Home_Config246
- Ecat_Slave_Home_Move264
- Ecat_Slave_Home_Status265
- Ethercat Profile Position Mode (PP)266
  - Ecat_Slave_Pp_Start_Move266
  - Ecat_Slave_Pp_Advance_Config266
- Ethercat Profile Velocity Mode (PV)272
  - Ecat_Slave_Pv_Start_Move272
  - Ecat_Slave_Pv_Advance_Config272
- Inverter Motion Control278
  - Ecat_Slave_Vl_Start_Move278
- Ethercat Profile Torque Mode (PT)282
  - Ecat_Slave_Pt_Start_Move282
Group Motion Control284
- Ecat_Slave_User_Motion_Control_Set _Enable_Mode286
Operation of DI/DO Module298
- Ecat_Slave_Dio_Get_Input_Value300
- Ecat_Slave_Dio_Get_Output_Value301
- Ecat_Slave_Dio_Set_Output_Value302
- Ecat_Slave_Dio_Get_Single_Input_Value303
- Ecat_Slave_Dio_Get_Single_Output_Value304
- Ecat_Slave_Dio_Set_Single_Output_Value305
- Ecat_Slave_Dio_Set_Output_Error_Mode306
- Ecat_Slave_Dio_Set_Output_Error_Value307
Operation of AI/AO Module308
- Ecat_Slave_Aio_Get_Input_Value310
- Ecat_Slave_Aio_Set_Output_Value311
- Ecat_Slave_Aio_Get_Output_Value312
- Operation of Pulse Module (for R1-EC5621D0 Series)314
Operation of Pulse Module (for R1-Ecx62Xd0 Series)328
- Ecat_Slave_R1_Ecx62X_Set_Output_Mode330
- Ecat_Slave_R1_Ecx62X_Set_Input_Mode331
- Ecat_Slave_R1_Ecx62X_Set_Org_Inverse332
- Ecat_Slave_R1_Ecx62X_Set_Qz_Inverse333
- Ecat_Slave_R1_Ecx62X_Set_Home_Spmode334
- Ecat_Slave_R1_Ecx62X_Set_Mel_Inverse335
- Ecat_Slave_R1_Ecx62X_Set_Pel_Inverse336
- Ecat_Slave_R1_Ecx62X_Set_Svon_Inverse337
- Ecat_Slave_R1_Ecx62X_Set_Home_Slow_Down338
- Ecat_Slave_R1_Ecx62X_Get_Io_Status339
- Ecat_Slave_R1_Ecx62X_Get_Single_Io_Status340
Operation of Delta Servo System342
- Ecat_Slave_Deltaservo_Read_Parameter_Info346
- Ecat_Slave_Deltaservo_Set_Velocity_Limit347
- Ecat_Slave_Deltaservo_Set_Compare_Config350
Analog Input Settings (for R1-EC8124D0)352
- Ecat_Slave_R1_Ec8124_Set_Input _Rangemode354
- Ecat_Slave_R1_Ec8124_Set_Input _Convstfreq_Mode355
- Ecat_Slave_R1_Ec8124_Get_Input _Rangemode357
Analog Output Settings (for R1-EC9144D0 Series)360
- Ecat_Slave_R1_Ec9144_Set_Output _Rangemode360
- Ecat_Slave_R1_Ec9144_Set_Output_Enable363
- Ecat_Slave_R1_Ec9144_Get_Output _Returncode364
Auto Recording Functionof Motion Axis368
- Ecat_Slave_Record_Set_Type368
- Ecat_Slave_Record_Set_Enable369
- Ecat_Slave_Record_Get_Cnt370
- Ecat_Slave_Record_Read_Data371
- Ecat_Slave_Record_Clear_Data372
- Ecat_Slave_Record_Multi_Set_Enable373
- Ecat_Slave_Record_Multi_Clear_Data374
Operation of Local Digital I/O377
- Ecat_Gpio_Set_Output378
- Ecat_Gpio_Get_Output379
- Ecat_Gpio_Get_Input380
High-Speed Pulse Compare Function382
- Ecat_Compare_Set_Channel_Position385
- Ecat_Compare_Get_Channel_Position386
- Ecat_Compare_Set_Ipulser_Mode387
- Ecat_Compare_Set_Channel_Direction388
- Ecat_Compare_Set_Channel_Trigger_Time389
- Ecat_Compare_Set_Channel_One_Shot390
- Ecat_Compare_Set_Channel_Source391
- Ecat_Compare_Set_Channel_Enable392
- Ecat_Compare_Channel0_Position393
- Ecat_Compare_Set_Channel_Trigger_Time393
- Ecat_Compare_Set_Channel0_Trigger _By_Gpio394
- Ecat_Compare_Set_Channel_Enable394
- Ecat_Compare_Set_Channel1_Output_Enable395
- Ecat_Compare_Set_Channel1_Output_Mode396
- Ecat_Compare_Get_Channel1_Io_Status398
- Ecat_Compare_Set_Channel1_Gpio_Out399
- Ecat_Compare_Set_Channel1_Position_Table403
- Ecat_Compare_Get_Channel1_Position _Table_Count405
- Ecat_Compare_Set_Channel_Polarity406
- Ecat_Compare_Reuse_Channel1_Position_Table407
- Ecat_Compare_Reuse_Channel1_Position _Table_Level408
Information of Ethercat Dynamic-Link Library (DLL)410
- Ecat_Master_Get_Dll_Version412
- Ecat_Master_Get_Dll_Path_Single413
- Ecat_Master_Get_Dll_Version_Single414
Security of Software Protection416
- Ecat_Security_Check_Verifykey418
- Ecat_Security_Get_Check_Verifykey_State419
- Ecat_Security_Write_Verifykey420
- Ecat_Security_Get_Write_Verifykey_State421
- Ecat_Security_Check_Userpassword422
- Ecat_Security_Write_Userpassword424
- Ecat_Security_Get_Write_Userpassword_State425
Operating MRAM on PAC426
- Ecat_Master_Mram_Read_Word_Data428
- Ecat_Master_Mram_Write_Dword_Data429
- Ecat_Master_Mram_Read_Dword_Data430
Retentive Digital Output of the Module (for 70E2 Series)432
- Ecat_Slave_R1_Ec70E2_Set_Output_Enable433
- Retentive Digital Output of the Module (for 70X2 Series)434
  - Ecat_Slave_R1_Ec70X2_Set_Output_Enable435
- MPG Operation (for R1-EC5614D0 Series)436
- Error Code Description444
  - List of Error Code444

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Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English

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