Delta EtherCAT Programming Manual page 31

EtherCAT Operation Example
(2) Set Node ID and Slot ID for the servo drive and enable motion status display
3
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.
(3) Enter the Slop and Ratio values
Slop: Input the required time for the rated torque. (unit: ms)
Ratio: Input the permillage of the rated torque value. For example, if the ratio value is 20,
the rated torque will be 2%.
(4) Set the servo motor to ON/OFF state (servo on/servo off)
Press the SVON key (as shown in figure 3.3.2.4) to execute the following program:
RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID, gSlotID, ON_OFF);
// ON_OFF:
// 0: Servo OFF.
// 1: Servo ON.
(5) Torque control
Press the Move key (as shown in figure 3.3.2.4) to execute the following program:
RetCode = _ECAT_Slave_PT_Start_Move(gESCCardNo, gNodeID, gSlotID, Torque,
Slope);
/* Set torque parameters and enable torque control. */
// The motor will run in forward direction if the torque value is greater than 0, and run in
reverse direction if the value is smaller than 0.
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Figure 3.3.2.2
Figure 3.3.2.3
Figure 3.3.2.4
EtherCAT Programming Guide
March, 2017