Delta EtherCAT User Manual

EtherCAT Programming Guide Homing
March, 2017 12-3
12
12.1 _ECAT_Slave_Home_Config

Syntax
U16 PASCAL _ECAT_Slave_Home_Config (U16 CardNo, U16 AxisNo, U16 SlotNo, U16
Mode,I32 Offset, U32 FirstVel, U32 SecondVel, U32 Acceleration)

Purpose
This is for setting the homing mode. Executing this API will not start the homing procedure. To
execute homing, use API “_ECAT_Slave_Home_Move” (section 12.2)

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Mode U16 Mode
Homing mode
Please refer to the manual of the slave device for more
details. (OD: 0x6098 Sub 0)
Offset I32 inc
Homing offset
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more details.
(OD: 0x607C Sub 0)
FirstVel U32 inc/second
Speed for searching the ORG reference signal (The 1
st
speed)
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more details.
(OD: 0x6099 Sub 1)
SecondVel U32 inc/second
Speed for searching the Z pulse (The 2
nd
speed)
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more details.
(OD code: 0x6099 Sub 2)
Acceleration U32 inc/s^2
Acceleration during homing (inc/s^2)
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more details.
(OD code: 0x609A Sub 0)

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English