Delta EtherCAT User Manual

Operation of Delta Servo System EtherCAT Programming Guide
22-8 March, 2017
22
22.6 _ECAT_Slave_DeltaServo_Get_Compare_Enable
 Syntax
U16 PASCAL _ECAT_Slave_DeltaServo_Get_Compare_Enable(U16 CardNo, U16 AxisNo, U16
SlotNo, U16* Enable, U16* CompareSource, U16* SignalLength, U16* SignalPolarity)
 Purpose
This is for reading the pulse compare parameter that is written in the servo drive, 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 U32 Option
Compare function of the servo drive
1: Enable
2: Disable
CompareSource U32 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: Feedback pulse of the servo drive.
SignalLength U32 Millisecond Trigger duration of the output signal
SignalPolarity U32 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, CompareSource, SignalLength,
SignalPolarity;
Status=_ECAT_Slave_ DeltaServo_Get_Compare_Enable (CardNo, AxisNo, SlotNo,
&Enable, &CompareSource, &SignalLength, &SignalPolarity);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English