Name: Delta EtherCAT
Brand: Delta
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March, 2017 32-1

Retentive Digital Output

of the Module

(For 70X2 Series)

This chapter will tell you how to use the API for enabling/disabling digital output of the

module. Delta R1-EC70E2D0 and R1-EC70F2D0 provide retentive function, which can

keep the output status when EtherCAT is offline. API function in this chapter can be

used to enable the digital output when EtherCAT is online.

台

32.1 _ECAT_Slave_R1_EC70X2_Set_Output_Enable ·································· 32-2

Default Chapter2
- Table of Contents2
Introduction to API Library13
- How to Use Function Libraries13
- Start a New Project13
Ethercat Introduction16
- Maximum Number of the Slave Device17
- Initialize RTX Runtime Environment18
- Introduction to RTSS Task Manager19
- Ethercat Operation Example22
- Ethercat Master Configuration88
- Master Initialization104
Ethercat Coe Standard Communication122
- Ecat_Slave_Sdo_Send_Message124
- Ecat_Slave_Sdo_Read_Message125
- Ecat_Slave_Sdo_Quick_Send_Message126
- Ecat_Slave_Sdo_Quick_Read_Message127
- Ecat_Slave_Sdo_Read_Response128
- Ecat_Slave_Sdo_Wait_All_Done129
- Ecat_Slave_Sdo_Get_Errorcode130
- Ecat_Slave_Sdo_Check_Done132
- Ecat_Slave_Pdo_Get_Information135
- Ecat_Slave_Pdo_Get_Rx_Data137
- Ecat_Slave_Pdo_Get_Tx_Data138
- Ecat_Slave_Pdo_Set_Tx_Data139
- Ecat_Slave_Pdo_Set_Tx_Detail_Data140
General Operation of Motion Axis142
- Ecat_Slave_Motion_Set_Svon144
- Ecat_Slave_Motion_Ralm145
- Ecat_Slave_Motion_Sd_Stop146
- Ecat_Slave_Motion_Emg_Stop147
- Ecat_Slave_Motion_Set_Alm_Reaction148
- Ecat_Slave_Motion_Set_Position149
- Ecat_Slave_Motion_Set_Command150
- Ecat_Slave_Motion_Set_Movemode151
- Ecat_Slave_Motion_Get_Movemode152
- Ecat_Slave_Motion_Get_Controlword153
- Ecat_Slave_Motion_Get_Statusword155
- Ecat_Slave_Motion_Get_Mdone157
- Ecat_Slave_Motion_Get_Position158
- Ecat_Slave_Motion_Get_Command159
- Ecat_Slave_Motion_Get_Target_Command160
- Ecat_Slave_Motion_Get_Actual_Position161
- Ecat_Slave_Motion_Get_Actual_Command162
- Ecat_Slave_Motion_Get_Current_Speed163
- Ecat_Slave_Motion_Get_Torque164
- Ecat_Slave_Motion_Get_Buffer_Length165
- Ecat_Slave_Motion_Set_Touchprobe_Config166
- Ecat_Slave_Motion_Set_Touchprobe_Quickstart169
- Ecat_Slave_Motion_Set_Touchprobe_Quickdone171
- Ecat_Slave_Motion_Set_Touchprobe_Disable173
- Ecat_Slave_Motion_Get_Touchprobe_Status174
- Ecat_Slave_Motion_Get_Touchprobe_Position176
Cyclic Synchronous Position Mode (CSP)178
- Ecat_Slave_Csp_Start_Arc_Move185
- Ecat_Slave_Csp_Start_Arc2_Move187
- Ecat_Slave_Csp_Start_Arc3_Move189
- Ecat_Slave_Csp_Start_Spiral_Move191
- Ecat_Slave_Csp_Start_Spiral2_Move192
- Ecat_Slave_Csp_Start_Sphere_Move194
- Ecat_Slave_Csp_Start_Heli_Move195
- Ecat_Slave_Csp_Start_Multiaxes_Move197
- Ecat_Slave_Csp_Start_Msbrline_Move198
- Ecat_Slave_Csp_Set_Gear202
- Ecat_Slave_Csp_Set_Softlimit203
- Ecat_Slave_Csp_Targetpos_Change204
- Ecat_Slave_Csp_Velocity_Change205
- Ecat_Slave_Csp_Feedrate_Overwrite206
- Ecat_Slave_Csp_Feedrate_Overwrite207
- Ecat_Slave_Csp_Speed_Continue_Enable210
- Ecat_Slave_Csp_Speed_Continue_Set_Mode211
- Ecat_Slave_Csp_Speed_Continue_Set_Combine_ Ratio214
- Ecat_Slave_Csp_Scurve_Rate215
- Ecat_Slave_Csp_Liner_Speed_Master216
- Ecat_Slave_Csp_Mask_Axis218
  - Ecat_Slave_Csp_Sync_Config219
  - Ecat_Slave_Csp_Sync_Move220
  - Ecat_Slave_Csp_Start_Mabrline_Move221
  - Ecat_Slave_Csp_Start_2Segment_Move223
  - Ecat_Slave_Csp_Start_Pvt_Move225
  - Ecat_Slave_Csp_Start_Pvtcomplete_Move227
  - Ecat_Slave_Csp_Virtual_Set_Enable229
  - Ecat_Slave_Csp_Virtual_Set_Command230
  - Ecat_Slave_Csp_Get_Softlimit_Status231
  - Ecat_Slave_Csp_Pitch_Set_Interval232
  - Ecat_Slave_Csp_Pitch_Set_Mode233
  - Ecat_Slave_Csp_Pitch_Set_Org234
  - Ecat_Slave_Csp_Pitch_Set_Rel_Table235
  - Ecat_Slave_Csp_Pitch_Set_Abs_Table236
  - Ecat_Slave_Csp_Pitch_Set_Enable237
- Cyclic Synchronous Velocity Mode (CSV)238
  - Ecat_Slave_Csv_Start_Move239
  - Ecat_Slave_Csv_Multi_Start_Move240
- Cyclic Synchronous Torque Mode (CST)242
  - Ecat_Slave_Cst_Start_Move243
  - Ecat_Slave_Cst_Multi_Start_Move244
Homing246
- Ecat_Slave_Home_Config246
- Ecat_Slave_Home_Move264
- Ecat_Slave_Home_Status265
- Ethercat Profile Position Mode (PP)266
  - Ecat_Slave_Pp_Start_Move266
  - Ecat_Slave_Pp_Advance_Config266
- Ethercat Profile Velocity Mode (PV)272
  - Ecat_Slave_Pv_Start_Move272
  - Ecat_Slave_Pv_Advance_Config272
- Inverter Motion Control278
  - Ecat_Slave_Vl_Start_Move278
- Ethercat Profile Torque Mode (PT)282
  - Ecat_Slave_Pt_Start_Move282
Group Motion Control284
- Ecat_Slave_User_Motion_Control_Set _Enable_Mode286
Operation of DI/DO Module298
- Ecat_Slave_Dio_Get_Input_Value300
- Ecat_Slave_Dio_Get_Output_Value301
- Ecat_Slave_Dio_Set_Output_Value302
- Ecat_Slave_Dio_Get_Single_Input_Value303
- Ecat_Slave_Dio_Get_Single_Output_Value304
- Ecat_Slave_Dio_Set_Single_Output_Value305
- Ecat_Slave_Dio_Set_Output_Error_Mode306
- Ecat_Slave_Dio_Set_Output_Error_Value307
Operation of AI/AO Module308
- Ecat_Slave_Aio_Get_Input_Value310
- Ecat_Slave_Aio_Set_Output_Value311
- Ecat_Slave_Aio_Get_Output_Value312
- Operation of Pulse Module (for R1-EC5621D0 Series)314
Operation of Pulse Module (for R1-Ecx62Xd0 Series)328
- Ecat_Slave_R1_Ecx62X_Set_Output_Mode330
- Ecat_Slave_R1_Ecx62X_Set_Input_Mode331
- Ecat_Slave_R1_Ecx62X_Set_Org_Inverse332
- Ecat_Slave_R1_Ecx62X_Set_Qz_Inverse333
- Ecat_Slave_R1_Ecx62X_Set_Home_Spmode334
- Ecat_Slave_R1_Ecx62X_Set_Mel_Inverse335
- Ecat_Slave_R1_Ecx62X_Set_Pel_Inverse336
- Ecat_Slave_R1_Ecx62X_Set_Svon_Inverse337
- Ecat_Slave_R1_Ecx62X_Set_Home_Slow_Down338
- Ecat_Slave_R1_Ecx62X_Get_Io_Status339
- Ecat_Slave_R1_Ecx62X_Get_Single_Io_Status340
Operation of Delta Servo System342
- Ecat_Slave_Deltaservo_Read_Parameter_Info346
- Ecat_Slave_Deltaservo_Set_Velocity_Limit347
- Ecat_Slave_Deltaservo_Set_Compare_Config350
Analog Input Settings (for R1-EC8124D0)352
- Ecat_Slave_R1_Ec8124_Set_Input _Rangemode354
- Ecat_Slave_R1_Ec8124_Set_Input _Convstfreq_Mode355
- Ecat_Slave_R1_Ec8124_Get_Input _Rangemode357
Analog Output Settings (for R1-EC9144D0 Series)360
- Ecat_Slave_R1_Ec9144_Set_Output _Rangemode360
- Ecat_Slave_R1_Ec9144_Set_Output_Enable363
- Ecat_Slave_R1_Ec9144_Get_Output _Returncode364
Auto Recording Functionof Motion Axis368
- Ecat_Slave_Record_Set_Type368
- Ecat_Slave_Record_Set_Enable369
- Ecat_Slave_Record_Get_Cnt370
- Ecat_Slave_Record_Read_Data371
- Ecat_Slave_Record_Clear_Data372
- Ecat_Slave_Record_Multi_Set_Enable373
- Ecat_Slave_Record_Multi_Clear_Data374
Operation of Local Digital I/O377
- Ecat_Gpio_Set_Output378
- Ecat_Gpio_Get_Output379
- Ecat_Gpio_Get_Input380
High-Speed Pulse Compare Function382
- Ecat_Compare_Set_Channel_Position385
- Ecat_Compare_Get_Channel_Position386
- Ecat_Compare_Set_Ipulser_Mode387
- Ecat_Compare_Set_Channel_Direction388
- Ecat_Compare_Set_Channel_Trigger_Time389
- Ecat_Compare_Set_Channel_One_Shot390
- Ecat_Compare_Set_Channel_Source391
- Ecat_Compare_Set_Channel_Enable392
- Ecat_Compare_Channel0_Position393
- Ecat_Compare_Set_Channel_Trigger_Time393
- Ecat_Compare_Set_Channel0_Trigger _By_Gpio394
- Ecat_Compare_Set_Channel_Enable394
- Ecat_Compare_Set_Channel1_Output_Enable395
- Ecat_Compare_Set_Channel1_Output_Mode396
- Ecat_Compare_Get_Channel1_Io_Status398
- Ecat_Compare_Set_Channel1_Gpio_Out399
- Ecat_Compare_Set_Channel1_Position_Table403
- Ecat_Compare_Get_Channel1_Position _Table_Count405
- Ecat_Compare_Set_Channel_Polarity406
- Ecat_Compare_Reuse_Channel1_Position_Table407
- Ecat_Compare_Reuse_Channel1_Position _Table_Level408
Information of Ethercat Dynamic-Link Library (DLL)410
- Ecat_Master_Get_Dll_Version412
- Ecat_Master_Get_Dll_Path_Single413
- Ecat_Master_Get_Dll_Version_Single414
Security of Software Protection416
- Ecat_Security_Check_Verifykey418
- Ecat_Security_Get_Check_Verifykey_State419
- Ecat_Security_Write_Verifykey420
- Ecat_Security_Get_Write_Verifykey_State421
- Ecat_Security_Check_Userpassword422
- Ecat_Security_Write_Userpassword424
- Ecat_Security_Get_Write_Userpassword_State425
Operating MRAM on PAC426
- Ecat_Master_Mram_Read_Word_Data428
- Ecat_Master_Mram_Write_Dword_Data429
- Ecat_Master_Mram_Read_Dword_Data430
Retentive Digital Output of the Module (for 70E2 Series)432
- Ecat_Slave_R1_Ec70E2_Set_Output_Enable433
- Retentive Digital Output of the Module (for 70X2 Series)434
  - Ecat_Slave_R1_Ec70X2_Set_Output_Enable435
- MPG Operation (for R1-EC5614D0 Series)436
- Error Code Description444
  - List of Error Code444

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Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English

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Delta EtherCAT Specifications

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