Delta EtherCAT Programming Manual page 248

EtherCAT Programming Guide
12.1 _ECAT_Slave_Home_Config

Syntax
U16 PASCAL _ECAT_Slave_Home_Config (U16 CardNo, U16 AxisNo, U16 SlotNo, U16
Mode,I32 Offset, U32 FirstVel, U32 SecondVel, U32 Acceleration)

Purpose
This is for setting the homing mode. Executing this API will not start the homing procedure. To
execute homing, use API "_ECAT_Slave_Home_Move" (section 12.2)

Parameter
Name
CardNo
AxisNo
SlotNo
Mode
Offset
FirstVel
SecondVel
Acceleration
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
U16 Mode
I32 inc
U32 inc/second
U32 inc/second
U32 inc/s^2
Description
Card No.
Node ID
Slot ID
Homing mode
Please refer to the manual of the slave device for more
details. (OD: 0x6098 Sub 0)
Homing offset
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more details.
(OD: 0x607C Sub 0)
Speed for searching the ORG reference signal (The 1
speed)
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more details.
(OD: 0x6099 Sub 1)
Speed for searching the Z pulse (The 2
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more details.
(OD code: 0x6099 Sub 2)
Acceleration during homing (inc/s^2)
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more details.
(OD code: 0x609A Sub 0)
Homing
12
st
nd
speed)
12-3