Delta EtherCAT User Manual

EtherCAT Programming Guide EtherCAT Operation Example
March, 2017 3-49
3
(2) Select the Card No., Node ID, and QEP
Figure 3.11.2.2
Card: Select the EtherCAT PCI motion card No. to be used.
Node: Select the Node ID; in the example, this axis will generate pulse for comparison.
QEP1: Select channel 1 for pulse input. (It should correspond to the physical wiring of QA1
and QB1.)
QEP2: Select channel 2 for pulse input.
(It should correspond to the physical wiring of QA2
and QB2.)
(3) Select Polarity and Compare Type
Figure 3.11.2.3
High: Select this option to carry out the following program: 1: High (high-level trigger)
rt = _ECAT_Compare_Set_Channel_Polarity (gu16_CardNo, 1);
Low: Select this option to carry out the following program: 0: Low (low-level trigger)
rt = _ECAT_Compare_Set_Channel_Polarity (gu16_CardNo, 0);
Type: Select the differential signal channel for the triggered signal.
rt = _ECAT_Compare_Set_Channel_Source (gu16_CardNo, u16_Channel, gu16_Qep);
// u16_Channel:
// 0 = Channel 0 (CMP_1) for outputting the differential signal. (Compare the pulse at a
fixed pulse interval.)
// 1 = Channel 1 (CMP_2) for outputting the differential signal. (Compare the pulse at
user-defined pulse intervals.)
// gu16_Qep
// 0 = When setting QEP1, this parameter is 0, which means the compared pulse is from
the first QA and QB.
// 1 = When setting QEP2, this parameter is 1, which means the compared pulse is from
the second QA and QB.

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English