Delta EtherCAT Programming Manual page 28

EtherCAT Programming Guide
(2) Enter the parameter for motion control
Select Node ID and Slot ID and check the Timer box to display the motion status.
Set NodeID: Specify the Node ID to be executed. The parameters "AxisNo" and "SlotNo"
in the API function.
Timer: Check the Timer box to display the current motion status.
StrVel.: Input motion speed for homing (pulse sent per second). The parameter
"FirstSpeed" in the API function.
MaxVel.: Input the motion speed after homing to the next index pulse (pulse sent per
second). The parameter "SecondSpeed" in the API function.
Acc.: Input the duration to accelerate to the target speed. The parameter "Tacc" in the API
function.
(3) Set the parameters for homing (homing mode and offset value)
Mode: Homing mode 1 ~ 35. The parameter "Mode" in the API function.
Offset: Homing offset. The parameter "Offset" in the API function.
(4) Set the servo motor to ON/OFF state (servo on/servo off)
Press the SVON key (as shown in figure 3.2.2.4) to execute the following program:
RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID, gSlotID,ON_OFF);
// ON_OFF
// 0: Servo OFF
// 1: Servo ON
March, 2017
Figure 3.2.2.2
Figure 3.2.2.3
Figure 3.2.2.4
EtherCAT Operation Example
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