Delta EtherCAT User Manual

EtherCAT Operation Example EtherCAT Programming Guide
3-4 March, 2017
3
(2) Initialize interface card
Figure 3.1.2.3
Press the Initial key to execute the following program:
for(i=0; i< gESCExistCards; i++)
{
RetCode = _ECAT_Master_Get_CardSeq(i, &CardNo);
/* Get the card No. of the PC interface Card i. This card No. is the dip switch value.
EtherCAT card number in RTX version is 16. */
RetCode = _ECAT_Master_Initial(CardNo);
/* Start to initialize the interface card. */
if(RetCode != 0)
{
strMsg.Format("_ECAT_Master_Initial, RetCode = %d", RetCode);
MessageBox(strMsg);
}
}
RetCode = _ECAT_Master_Check_Initial_Done(gESCCardNo, &InitialDone);
/* Get the Initial status. */
// Display the Initial Status:
// InitialDone = 1: Display “Pre Initial”
// InitialDone = 0: Display “Initial Done”
// InitialDone = 99: Display “Initial Error”
(3) Set the information of the connected modules
Figure 3.1.2.5
Press the Find Slave key to execute the following program:
RetCode = _ECAT_Master_Get_SlaveNum(gESCCardNo, &SlaveNum);
// Get the number of the connected modules.
When the above program completes, the number of the found Slave devices will be
displayed in Slave Num field.

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English