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EtherCAT
Delta EtherCAT User Manual
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March, 2017
12
API list of homing
Function name
Description
_ECA
T_Slave_Home
_Config
Set the homing mode
_ECA
T_Slave_
Home_Move
Execute homing
_ECA
T_Slave_Home
_Status
Acquire the current homing status
246
248
Table of Contents
Default Chapter
2
Table of Contents
2
Introduction to API Library
13
How to Use Function Libraries
13
Start a New Project
13
Using VC
13
Using VB
13
Using Vb.net
13
Using C
14
Ethercat Introduction
16
Maximum Number of the Slave Device
17
Initialize RTX Runtime Environment
18
Introduction to RTSS Task Manager
19
Ethercat Operation Example
22
Ethercat Initialization
24
Application Examples
24
Function List
24
Motion Control of Homing
27
Application Examples
27
Function List
27
Torque Control
30
Application Examples
30
Function List
30
Constant Speed Control
33
Application Examples
33
Function List
33
Motion Control in PP Mode
37
Application Examples
37
Function List
37
Motion Control in CSP Mode
41
Function List
41
Application Examples
42
Application Examples
59
Function List
59
Application Examples
61
Function List
61
Application Examples
63
Function List
63
Application Examples
65
Function List
65
Function List
68
Application Examples
69
API List of Dynamic-Link Library
76
Data Type and Setting Range
76
API List and Descriptions
77
Ecat_Master_Get_Dll_Path ·········································································
86
Ethercat Master Configuration
88
Ecat_Master_Set_Cycletime
90
Ecat_Master_Get_Cycletime
91
Ecat_Master_Nodeid_Alias_Enable
92
Ecat_Get_Serialno
93
Ecat_Master_Get_Dll_Seqid
94
Ecat_Autoconfig_Open_File
95
Ecat_Autoconfig_Save_File
96
Ecat_Autoconfig_Set_Slave_Dctime
97
Eact_Autoconfig_Clear_Configfile
98
Ecat_Autoconfig_Set_Nodeid_Alias
99
Ecat_Autoconfig_Get_Nodeid_Alias
101
Ecat_Autoconfig_Save_Nodeid_Alias
102
Master Initialization
104
Ecat_Master_Open
106
Ecat_Master_Initial
107
Ecat_Master_Reset
108
Ecat_Master_Close
109
Ecat_Master_Get_Cardseq
110
Ecat_Master_Get_Slavenum
111
Ecat_Master_Get_Slave_Info
112
Ecat_Master_Get_Dc_Status
114
Ecat_Master_Get_Connect_Status
115
Ecat_Master_Get_Api_Bufferlength
116
Ecat_Master_Get_Cycle_Spendtime
117
Ecat_Master_Check_Initial_Done
118
Ecat_Master_Get_Initial_Errorcode
119
Ecat_Master_Check_Working_Counter
120
Ecat_Master_Get_Return_Code_Message
121
Ethercat Coe Standard Communication
122
Ecat_Slave_Sdo_Send_Message
124
Ecat_Slave_Sdo_Read_Message
125
Ecat_Slave_Sdo_Quick_Send_Message
126
Ecat_Slave_Sdo_Quick_Read_Message
127
Ecat_Slave_Sdo_Read_Response
128
Ecat_Slave_Sdo_Wait_All_Done
129
Ecat_Slave_Sdo_Get_Errorcode
130
Ecat_Slave_Sdo_Check_Done
132
Ecat_Slave_Pdo_Get_Information
135
Ecat_Slave_Pdo_Get_Rx_Data
137
Ecat_Slave_Pdo_Get_Tx_Data
138
Ecat_Slave_Pdo_Set_Tx_Data
139
Ecat_Slave_Pdo_Set_Tx_Detail_Data
140
General Operation of Motion Axis
142
Ecat_Slave_Motion_Set_Svon
144
Ecat_Slave_Motion_Ralm
145
Ecat_Slave_Motion_Sd_Stop
146
Ecat_Slave_Motion_Emg_Stop
147
Ecat_Slave_Motion_Set_Alm_Reaction
148
Ecat_Slave_Motion_Set_Position
149
Ecat_Slave_Motion_Set_Command
150
Ecat_Slave_Motion_Set_Movemode
151
Ecat_Slave_Motion_Get_Movemode
152
Ecat_Slave_Motion_Get_Controlword
153
Ecat_Slave_Motion_Get_Statusword
155
Ecat_Slave_Motion_Get_Mdone
157
Ecat_Slave_Motion_Get_Position
158
Ecat_Slave_Motion_Get_Command
159
Ecat_Slave_Motion_Get_Target_Command
160
Ecat_Slave_Motion_Get_Actual_Position
161
Ecat_Slave_Motion_Get_Actual_Command
162
Ecat_Slave_Motion_Get_Current_Speed
163
Ecat_Slave_Motion_Get_Torque
164
Ecat_Slave_Motion_Get_Buffer_Length
165
Ecat_Slave_Motion_Set_Touchprobe_Config
166
Ecat_Slave_Motion_Set_Touchprobe_Quickstart
169
Ecat_Slave_Motion_Set_Touchprobe_Quickdone
171
Ecat_Slave_Motion_Set_Touchprobe_Disable
173
Ecat_Slave_Motion_Get_Touchprobe_Status
174
Ecat_Slave_Motion_Get_Touchprobe_Position
176
Cyclic Synchronous Position Mode (CSP)
178
Ecat_Slave_Csp_Start_Arc_Move
185
Ecat_Slave_Csp_Start_Arc2_Move
187
Ecat_Slave_Csp_Start_Arc3_Move
189
Ecat_Slave_Csp_Start_Spiral_Move
191
Ecat_Slave_Csp_Start_Spiral2_Move
192
Ecat_Slave_Csp_Start_Sphere_Move
194
Ecat_Slave_Csp_Start_Heli_Move
195
Ecat_Slave_Csp_Start_Multiaxes_Move
197
Ecat_Slave_Csp_Start_Msbrline_Move
198
Ecat_Slave_Csp_Set_Gear
202
Ecat_Slave_Csp_Set_Softlimit
203
Ecat_Slave_Csp_Targetpos_Change
204
Ecat_Slave_Csp_Velocity_Change
205
Ecat_Slave_Csp_Feedrate_Overwrite
206
Ecat_Slave_Csp_Feedrate_Overwrite
207
Ecat_Slave_Csp_Speed_Continue_Enable
210
Ecat_Slave_Csp_Speed_Continue_Set_Mode
211
Ecat_Slave_Csp_Speed_Continue_Set_Combine_ Ratio
214
Ecat_Slave_Csp_Scurve_Rate
215
Ecat_Slave_Csp_Liner_Speed_Master
216
Ecat_Slave_Csp_Mask_Axis
218
Ecat_Slave_Csp_Sync_Config
219
Ecat_Slave_Csp_Sync_Move
220
Ecat_Slave_Csp_Start_Mabrline_Move
221
Ecat_Slave_Csp_Start_2Segment_Move
223
Ecat_Slave_Csp_Start_Pvt_Move
225
Ecat_Slave_Csp_Start_Pvtcomplete_Move
227
Ecat_Slave_Csp_Virtual_Set_Enable
229
Ecat_Slave_Csp_Virtual_Set_Command
230
Ecat_Slave_Csp_Get_Softlimit_Status
231
Ecat_Slave_Csp_Pitch_Set_Interval
232
Ecat_Slave_Csp_Pitch_Set_Mode
233
Ecat_Slave_Csp_Pitch_Set_Org
234
Ecat_Slave_Csp_Pitch_Set_Rel_Table
235
Ecat_Slave_Csp_Pitch_Set_Abs_Table
236
Ecat_Slave_Csp_Pitch_Set_Enable
237
Cyclic Synchronous Velocity Mode (CSV)
238
Ecat_Slave_Csv_Start_Move
239
Ecat_Slave_Csv_Multi_Start_Move
240
Cyclic Synchronous Torque Mode (CST)
242
Ecat_Slave_Cst_Start_Move
243
Ecat_Slave_Cst_Multi_Start_Move
244
Homing
246
Ecat_Slave_Home_Config
246
Ecat_Slave_Home_Move
264
Ecat_Slave_Home_Status
265
Ethercat Profile Position Mode (PP)
266
Ecat_Slave_Pp_Start_Move
266
Ecat_Slave_Pp_Advance_Config
266
Ethercat Profile Velocity Mode (PV)
272
Ecat_Slave_Pv_Start_Move
272
Ecat_Slave_Pv_Advance_Config
272
Inverter Motion Control
278
Ecat_Slave_Vl_Start_Move
278
Ethercat Profile Torque Mode (PT)
282
Ecat_Slave_Pt_Start_Move
282
Group Motion Control
284
Ecat_Slave_User_Motion_Control_Set _Enable_Mode
286
Ecat_Slave_User_Motion_Control_Get_Enable_Mode
288
Ecat_Slave_User_Motion_Control_Set_Type
289
Ecat_Slave_User_Motion_Control_Set_Data
291
Ecat_Slave_User_Motion_Control_Clear_Data
292
Ecat_Slave_User_Motion_Control_Get_Datacnt
293
Ecat_Slave_User_Motion_Control_Ralm
294
Ecat_Slave_User_Motion_Control_Svon
295
Ecat_Slave_User_Motion_Control_Get_Alm
296
Operation of DI/DO Module
298
Ecat_Slave_Dio_Get_Input_Value
300
Ecat_Slave_Dio_Get_Output_Value
301
Ecat_Slave_Dio_Set_Output_Value
302
Ecat_Slave_Dio_Get_Single_Input_Value
303
Ecat_Slave_Dio_Get_Single_Output_Value
304
Ecat_Slave_Dio_Set_Single_Output_Value
305
Ecat_Slave_Dio_Set_Output_Error_Mode
306
Ecat_Slave_Dio_Set_Output_Error_Value
307
Operation of AI/AO Module
308
Ecat_Slave_Aio_Get_Input_Value
310
Ecat_Slave_Aio_Set_Output_Value
311
Ecat_Slave_Aio_Get_Output_Value
312
Operation of Pulse Module (for R1-EC5621D0 Series)
314
Ecat_Slave_R1_Ec5621_Set_Output_Mode
316
Ecat_Slave_R1_Ec5621_Set_Input_Mode
317
Ecat_Slave_R1_Ec5621_Set_Org_Inverse
318
Ecat_Slave_R1_Ec5621_Set_Qz_Inverse
319
Ecat_Slave_R1_Ec5621_Set_Home_Spmode
320
Ecat_Slave_R1_Ec5621_Set_Mel_Inverse
321
Ecat_Slave_R1_Ec5621_Set_Pel_Inverse
322
Ecat_Slave_R1_Ec5621_Set_Svon_Inverse
323
Ecat_Slave_R1_Ec5621_Set_Home _Slow_Down
324
Ecat_Slave_R1_Ec5621_Get_Io_Status
325
Ecat_Slave_R1_Ec5621_Get_Single_Io_Status
326
Operation of Pulse Module (for R1-Ecx62Xd0 Series)
328
Ecat_Slave_R1_Ecx62X_Set_Output_Mode
330
Ecat_Slave_R1_Ecx62X_Set_Input_Mode
331
Ecat_Slave_R1_Ecx62X_Set_Org_Inverse
332
Ecat_Slave_R1_Ecx62X_Set_Qz_Inverse
333
Ecat_Slave_R1_Ecx62X_Set_Home_Spmode
334
Ecat_Slave_R1_Ecx62X_Set_Mel_Inverse
335
Ecat_Slave_R1_Ecx62X_Set_Pel_Inverse
336
Ecat_Slave_R1_Ecx62X_Set_Svon_Inverse
337
Ecat_Slave_R1_Ecx62X_Set_Home_Slow_Down
338
Ecat_Slave_R1_Ecx62X_Get_Io_Status
339
Ecat_Slave_R1_Ecx62X_Get_Single_Io_Status
340
Operation of Delta Servo System
342
Ecat_Slave_Deltaservo_Read_Parameter_Info
346
Ecat_Slave_Deltaservo_Set_Velocity_Limit
347
Ecat_Slave_Deltaservo_Set_Compare_Config
350
Analog Input Settings (for R1-EC8124D0)
352
Ecat_Slave_R1_Ec8124_Set_Input _Rangemode
354
Ecat_Slave_R1_Ec8124_Set_Input _Convstfreq_Mode
355
Ecat_Slave_R1_Ec8124_Get_Input _Rangemode
357
Analog Output Settings (for R1-EC9144D0 Series)
360
Ecat_Slave_R1_Ec9144_Set_Output _Rangemode
360
Ecat_Slave_R1_Ec9144_Set_Output_Enable
363
Ecat_Slave_R1_Ec9144_Get_Output _Returncode
364
Auto Recording Functionof Motion Axis
368
Ecat_Slave_Record_Set_Type
368
Ecat_Slave_Record_Set_Enable
369
Ecat_Slave_Record_Get_Cnt
370
Ecat_Slave_Record_Read_Data
371
Ecat_Slave_Record_Clear_Data
372
Ecat_Slave_Record_Multi_Set_Enable
373
Ecat_Slave_Record_Multi_Clear_Data
374
Operation of Local Digital I/O
377
Ecat_Gpio_Set_Output
378
Ecat_Gpio_Get_Output
379
Ecat_Gpio_Get_Input
380
High-Speed Pulse Compare Function
382
Ecat_Compare_Set_Channel_Position
385
Ecat_Compare_Get_Channel_Position
386
Ecat_Compare_Set_Ipulser_Mode
387
Ecat_Compare_Set_Channel_Direction
388
Ecat_Compare_Set_Channel_Trigger_Time
389
Ecat_Compare_Set_Channel_One_Shot
390
Ecat_Compare_Set_Channel_Source
391
Ecat_Compare_Set_Channel_Enable
392
Ecat_Compare_Channel0_Position
393
Ecat_Compare_Set_Channel_Trigger_Time
393
Ecat_Compare_Set_Channel0_Trigger _By_Gpio
394
Ecat_Compare_Set_Channel_Enable
394
Ecat_Compare_Set_Channel1_Output_Enable
395
Ecat_Compare_Set_Channel1_Output_Mode
396
Ecat_Compare_Get_Channel1_Io_Status
398
Ecat_Compare_Set_Channel1_Gpio_Out
399
Ecat_Compare_Set_Channel1_Position_Table
403
Ecat_Compare_Get_Channel1_Position _Table_Count
405
Ecat_Compare_Set_Channel_Polarity
406
Ecat_Compare_Reuse_Channel1_Position_Table
407
Ecat_Compare_Reuse_Channel1_Position _Table_Level
408
Information of Ethercat Dynamic-Link Library (DLL)
410
Ecat_Master_Get_Dll_Version
412
Ecat_Master_Get_Dll_Path_Single
413
Ecat_Master_Get_Dll_Version_Single
414
Security of Software Protection
416
Ecat_Security_Check_Verifykey
418
Ecat_Security_Get_Check_Verifykey_State
419
Ecat_Security_Write_Verifykey
420
Ecat_Security_Get_Write_Verifykey_State
421
Ecat_Security_Check_Userpassword
422
Ecat_Security_Write_Userpassword
424
Ecat_Security_Get_Write_Userpassword_State
425
Operating MRAM on PAC
426
Ecat_Master_Mram_Read_Word_Data
428
Ecat_Master_Mram_Write_Dword_Data
429
Ecat_Master_Mram_Read_Dword_Data
430
Retentive Digital Output of the Module (for 70E2 Series)
432
Ecat_Slave_R1_Ec70E2_Set_Output_Enable
433
Retentive Digital Output of the Module (for 70X2 Series)
434
Ecat_Slave_R1_Ec70X2_Set_Output_Enable
435
MPG Operation (for R1-EC5614D0 Series)
436
Ecat_Slave_R1_Ec5614_Set_Mj_Config
438
Ecat_Slave_R1_Ec5614_Set_Mj_Enable
440
Ecat_Slave_R1_Ec5614_Get_Io_Status
441
Ecat_Slave_R1_Ec5614_Get_Mpg_Counter
442
Error Code Description
444
List of Error Code
444
4
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Delta EtherCAT Specifications
General
Brand
Delta
Model
EtherCAT
Category
Control Systems
Language
English
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