March, 2017
Inverter Motion Control
15.1 _ECAT_Slave_VL_Start_Move ·········································································· 15-2
EtherCAT Profile Torque Mode (PT)
16.1 _ECAT_Slave_PT_Start_Move ·········································································· 16-3
16.2 _ECAT_Slave_PT_Advance_Config ··································································· 16-4
Group Motion Control
17.1 _ECAT_Slave_User_Motion_Control_Set _Enable_Mode ········································17-3
17.2 _ECAT_Slave_User_Motion_Control_Get_Enable_Mode ········································ 17-5
17.3 _ECAT_Slave_User_Motion_Control_Set_Type ···················································· 17-6
17.4 _ECAT_Slave_User_Motion_Control_Set_Data ···················································· 17-8
17.5 _ECAT_Slave_User_Motion_Control_Clear_Data ·················································· 17-9
17.6 _ECAT_Slave_User_Motion_Control_Get_DataCnt ············································· 17-10
17.7 _ECAT_Slave_User_Motion_Control_Ralm ························································ 17-11
17.8 _ECAT_Slave_User_Motion_Control_Svon ························································ 17-12
17.9 _ECAT_Slave_User_Motion_Control_Get_Alm ··················································· 17-13
Operation of DI/DO Module
18.1 _ECAT_Slave_DIO_Get_Input_Value ·································································· 18-3
18.2 _ECAT_Slave_DIO_Get_Output_Value ······························································· 18-4
18.3 _ECAT_Slave_DIO_Set_Output_Value ································································ 18-5
18.4 _ECAT_Slave_DIO_Get_Single_Input_Value ························································ 18-6
18.5 _ECAT_Slave_DIO_Get_Single_Output_Value ····················································· 18-7
18.6 _ECAT_Slave_DIO_Set_Single_Output_Value ······················································ 18-8
18.7 _ECAT_Slave_DIO_Set_Output_Error_Mode ······················································· 18-9
18.8 _ECAT_Slave_DIO_Set_Output_Error_Value ····················································· 18-10
Operation of AI/AO Module
19.1 _ECAT_Slave_AIO_Get_Input_Value ·································································· 19-3
19.2 _ECAT_Slave_AIO_Set_Output_Value ································································ 19-4
19.3 _ECAT_Slave_AIO_Get_Output_Value ······························································· 19-5
Operation of Pulse Module (For R1-EC5621D0 Series)
20.1 _ECAT_Slave_R1_EC5621_Set_Output_Mode ····················································· 20-3
20.2 _ECAT_Slave_R1_EC5621_Set_Input_Mode ······················································· 20-4
20.3 _ECAT_Slave_R1_EC5621_Set_ORG_Inverse ···················································· 20-5
20.4 _ECAT_Slave_R1_EC5621_Set_QZ_Inverse ······················································· 20-6
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