Delta EtherCAT Programming Manual page 29

EtherCAT Operation Example
(5) Homing procedures
Press the Homing key (as shown in figure 3.2.2.4) to execute the following program:
RetCode = _ECAT_Slave_Home_Config(gESCCardNo, gNodeID, gSlotID, Mode, Offset,
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StrVel, MaxVel, Tacc);
/* Set homing mode: 1 ~ 35, offset and speed parameters, but the servo will not operate
now. */
RetCode = _ECAT_Slave_Home_Move(gESCCardNo, gNodeID, gSlotID);
/* Start homing according to the set parameters. */
(6) Stop homing
To stop homing, press the STOP key (as shown in figure 3.2.2.4) to execute the following
program:
RetCode = _ECAT_Slave_Motion_Sd_Stop(gESCCardNo, gNodeID, gSlotID, Tdec);
/* Interrupt homing process. */
(7) Exit program
Press the Exit key to exit and close the program.
Execute "_ECAT_Master_Reset" and "_ECAT_Master_Close" to exit the function. Detailed
description about these two API is presented in section 3.1.2 Exit program.
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EtherCAT Programming Guide
March, 2017