Delta EtherCAT User Manual

API List of EtherCAT Dynamic-Link Library EtherCAT Programming Guide
4-2 March, 2017
4
4.1 Data type and value range
The “TYPE_DEF.H” file located in the “inc\VC\” folder (installation directory) defines the
general data type. See the following table. The data type, name, and rage are defined
as follows.
Data Type Description Range
U8 8-bit ASCII character 0 ~ 255
I16 16-bit signed integer -32768 ~ 32767
U16 16-bit unsigned integer 0 ~ 65535
I32 32-bit signed long integer -2147483648 ~ 2147483647
U32 32-bit unsigned long integer 0 ~ 4294967295
F32 32-bit single-precision floating-point -3.402823E38 ~ 3.402823E38
F64 64-bit double-precision floating point
-1.797683134862315E308 ~
1.797683134862315E309
Boolean Boolean TRUE, FALSE
4.2 API list and descriptions
EtherCAT Master Configuration
_ECAT_Master_Set_CycleTime
Set the cycle time of the EtherCAT master
communication. *Set before initialization.
_ECAT_Master_Get_CycleTime
Acquire the cycle time of the EtherCAT master
communication.
_ECAT_Master_NodeID_Alias_Enable
Determine whether to enable user-defined station.
*Set before initialization.
_ECAT_Master_Get_SerialNo
Get the serial No. of PAC or the motion card.
_ECAT_Master_Get_DLL_SeqID
Acquire the sequence ID of the current DLL.
_ECAT_Autoconfig_Open_File
Read and apply the configuration file of the
communication topology and DC data for system
initialization. *Set before initialization.
_ECAT_Autoconfig_Save_File
Save the current communication topology and DC
data to the configuration file.
_ECAT_Autoconfig_Set_Slave_DCTime
Set the DC time of each node.
_EACT_Autoconfig_Clear_ConfigFile
Clear the currently imported EtherCAT master
configuration.
_ECAT_Autoconfig_Set_NodeID_Alias
Set user-defined station alias of each node. *Set after
initialization.
_ECAT_Autoconfig_Get_NodeID_Alias
Acquire the user-defined station alias of each node.
*Set after initialization.
_ECAT_Autoconfig_Save_NodeID_Alias
Save the user-defined station alias to the module
memory block.

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.