Delta EtherCAT User Manual

EtherCAT Programming Guide Operation of Delta Servo System
March, 2017 22-7
22
22.5 _ECAT_Slave_DeltaServo_Set_Compare_Enable
 Syntax
U16 PASCAL _ECAT_Slave_DeltaServo_Set_Compare_Enable(U16 CardNo, U16 AxisNo, U16
SlotNo, U16 Enable, U16 CompareSource, U16 SignalLength, U16 SignalPolarity)
 Purpose
This is for writing the pulse compare parameter, which is identical to Delta servo parameter
P5-59.
 Parameter
Name Data type Property Description
CardNo U16 Number Card number
AxisNo U16 Number Axis number
SlotNo U16 Number Slot ID
Enable U16 Option
Compare function of the servo drive
1: Enable
2: Disable
CompareSource U16 Option
Source for the pulse compare function:
0: Capture Axes (not supported by A2-E servo drive).
1: AUX ENC (linear scale). (only supported by A2R-E
servo drive)
2: External pulse command (not supported by A2-E
servo drive).
3: Main ENC (Main encoder).
SignalLength U16 Millisecond Trigger duration of the output signal
SignalPolarity U16 Option
Polarity of the output signal.
0: High-potential trigger (NO)
1: Low-potential trigger (NC)
 Example
U16 Status = 0;
U16 CardNo=16, AxisNo = 1, SlotNo = 0, Enable=1, CompareSource=1, SignalLength=1,
SignalPolarity=1;
Status=_ECAT_Slave_DeltaServo_Set_Compare_Enable (CardNo, AxisNo, SlotNo, Enable,
CompareSource, SignalLength, SignalPolarity);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English