Delta EtherCAT User Manual

EtherCAT Programming Guide High Speed Pulse Compare Function
March, 2017 27-21
27
27.16 _ECAT_Compare_Set_Channel1_Position_Table_Level
 Syntax
U16 PASCAL _ECAT_Compare_Set_Channel1_Position_Table_Level (U16 CardNo,
I32* pos_table, U32* level_table, U32 table_size)
 Purpose
Set the pulse data of channel 1 and its user-defined active level for triggering signals. The max.
data entry is 100000.
Note:
1. For the trigger retaining time, please refer to description of API
“_ECAT_Compare_Set_Channel_Trigger_Time”.
2. Output signal of channel 1 is triggered via PIN13 and PIN14 of CN2 or CN11 connector on motion card
PCI-L221-B1. These two signals will both be triggered when pulses are matched.
 Parameter
Name Data type Property Description
CardNo U16 Number Card No.
Pos_table I32*
Data array
The position for comparing pulses at user-defined
intervals.
Level_table U32*
Data array
The active level for triggering signals;
Translate the trigger state at the 32 positions into a 32-bit
value.
Table_size U32
Number
Data size to be compared, which value has to be identical
to the array size of Pos_table. The max. is 100000.
 Example
U16 CardNo = 0;
I32 pos_table[16] ={1000, 2000, 3000, 4000, 5000, 6000, 7000, 8000, 9000, 10000, 11000,
12000, 13000, 14000, 15000, 16000};
U32 level_table[16] ={0x1111,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
// Hexadecimal value, 0x00001111 = Binary array, [0000 0000 0000 0000 0001 0001 0001 0001]
B
// Refer to the pulse array with the setting of pos_table, a signal will be triggered at 1000, 5000,
9000, and 13000 (pulse).
U32 table_size =16;
U16 status =_ECAT_Compare_Set_Channel1_Position_Table_Level (CardNo, pos_table,
level_table,table_size);

Delta EtherCAT Specifications

General

Category	Control Systems
Communication Interface	EtherCAT
Data Transfer Rate	100 Mbps
Number of Slaves	Up to 65535
Synchronization Accuracy	< 1 μs
Supported Standards	IEC 61158, IEC 61784
Topology	Star, Tree
Cable Type	Ethernet (CAT5e or higher)
Maximum Cable Length	100 meters (between nodes)

Summary

EtherCAT Operation Example

EtherCAT Initialization

Demonstrates the process of initializing EtherCAT communication, including activating and finding interface cards.

EtherCAT Master Configuration

_ECAT_Master_Set_CycleTime

Explains the API for setting the EtherCAT master communication cycle time before initialization.

Master Initialization

_ECAT_Master_Open

Explains the essential API for controlling the Delta EtherCAT master, checking card quantity, and creating memory blocks.

_ECAT_Master_Initial

Describes the API for initializing EtherCAT communication and switching slaves to OP mode.

General Operation of Motion Axis

_ECAT_Slave_Motion_Set_Svon

Describes the API for setting the servo motor to ON/OFF state.

_ECAT_Slave_Motion_Ralm

Cyclic Synchronous Position Mode (CSP)

_ECAT_Slave_CSP_Start_Move

Details the API for executing linear interpolation of a single axis in CSP mode.

_ECAT_Slave_CSP_Start_V_Move

Homing

_ECAT_Slave_Home_Config

Details the API for setting the homing mode and parameters for motion axes.

_ECAT_Slave_Home_Move

Explains the API for executing the homing procedure on a specified motion axis.

Profile Position Mode (PP)

_ECAT_Slave_PP_Start_Move

Describes the API for executing single-axis linear motion in PP mode.

Profile Velocity Mode (PV)

_ECAT_Slave_PV_Start_Move

Explains the API for executing single-axis motion with constant speed in PV mode.

Group Motion Control

_ECAT_Slave_User_Motion_Control_Set_Enable_Mode

Describes the API for setting the group status and enabling/disabling group motion control.

Operation of Delta Servo System

_ECAT_Slave_DeltaServo_Write_Parameter

Explains the API for writing servo parameter values to Delta servo drives.

_ECAT_Slave_DeltaServo_Read_Parameter

Details the API for reading servo parameter values from Delta servo drives.

Auto Recording Function of Motion Axis

High-Speed Pulse Compare Function

_ECAT_Compare_Set_Channel_Position

Security of Software Protection

_ECAT_Security_Check_Verifykey

_ECAT_Security_Check_UserPassword

MPG Operation (For R1-EC5614D0 Series)

_ECAT_Slave_R1_EC5614_Set_MJ_Config

Sets the parameters for the MPG (Manual Pulse Generator) function.

_ECAT_Slave_R1_EC5614_Set_MJ_Enable

Error Code Description

List of error code

Lists returned values (decimal) and corresponding error code names for EtherCAT DLL operations.

Error code description

Provides detailed descriptions and troubleshooting steps for various EtherCAT error codes.