Delta EtherCAT User Manual

Operation of Pulse Module (R1-EC5621D0) EtherCAT Programming Guide
20-2 March, 2017
API list of pulse module operation (for R1-EC5621D0 series)
API Description
_ECAT_Slave_R1_EC5621_Set_Output_Mode
Set the mode of pulse output.
_ECAT_Slave_R1_EC5621_Set_Input_Mode
Set the mode of pulse input.
_ECAT_Slave_R1_EC5621_Set_ORG_Inverse
Set the contact type (NC/NO) of the origin switch
(ORG).
_ECAT_Slave_R1_EC5621_Set_QZ_Inverse
Set the contact type (NC/NO) of encoder’s Z pulse
(QZ).
_ECAT_Slave_R1_EC5621_Set_Home_SpMode
Apply the special mode when homing.
_ECAT_Slave_R1_EC5621_Set_MEL_Inverse
Set the contact type (NC/NO) of the negative limit
switch (MEL).
_ECAT_Slave_R1_EC5621_Set_PEL_Inverse
Set the contact type (NC/NO) of the positive limit
switch (PEL).
_ECAT_Slave_R1_EC5621_Set_Svon_Inverse
Set the contact type (NC/NO) of the servo enable
switch (Svon).
_ECAT_Slave_R1_EC5621_Set_Home_Slow_Down
It sets the deceleration time after the motor
reaches the origin
_ECAT_Slave_R1_EC5621_Get_IO_Status
Acquire the status of all I/O points
_ECAT_Slave_R1_EC5621_Get_Single_IO_Status
Acquire the status of single I/O point.

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English