Delta EtherCAT

EtherCAT Programming Guide Operation of Pulse Module (R1-EC5621D0)
March, 2017 20-7
20
20.5 _ECAT_Slave_R1_EC5621_Set_Home_SpMode
 Syntax
U16 PASCAL _ECAT_Slave_R1_EC5621_Set_Home_SpMode (U16 CardNo, U16 AxisNo, U16
SlotNo, U16 Mode)
 Purpose
This is for applying the special mode when homing. (For special applications only.) EtherCAT
master will look for encoder’s Z pulse (QZ) at extremely low speed.)
 Parameter
Name Data type Property Description
CardNo U16 Number Card number
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Mode U16 Option
0: Mode 0 (Normal)
1: Mode 1 (Special); EtherCAT master will look for
encoder’s Z pulse (QZ) at extremely low speed.
 Example
U16 Status = 0;
U16 CardNo=16 , AxisNo =1, SlotNo=0;
U16 Mode=0;
Status= _ECAT_Slave_R1_EC5621_Set_Home_SpMode (CardNo, AxisNo,SlotNo, Mode);