Delta EtherCAT

March, 2017 3-1
EtherCAT Operation
Example
This chapter provides the C/C++ examples of EtherCAT dynamic-link library, including
EtherCAT initialization, homing procedure, PT, PV, PP, CSP modes, remote digital
input/output module, analog input/output, and high-speed pulse compare function.
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
3.7.1 Function list ·············································································· 3-38
3.7.2 Application examples ································································· 3-38
3.8 EtherCAT Slave IO control (digital output) ············································· 3-40
3.8.1 Function list ·············································································· 3-40
3.8.2 Application examples ································································· 3-40
3.9 Application of EtherCAT analog input module (R1-EC-8124) ····················· 3-42
3.9.1 Function list ·············································································· 3-42
3.9.2 Application examples ································································· 3-42
3.10 Application of EtherCAT analog output module (R1-EC-9144) ·················· 3-44