Delta EtherCAT Programming Manual page 315

Operation of Pulse Module (R1-EC5621D0)
API list of pulse module operation (for R1-EC5621D0 series)
_ECAT_Slave_R1_EC5621_Set_Output_Mode
_ECAT_Slave_R1_EC5621_Set_Input_Mode
_ECAT_Slave_R1_EC5621_Set_ORG_Inverse
_ECAT_Slave_R1_EC5621_Set_QZ_Inverse
_ECAT_Slave_R1_EC5621_Set_Home_SpMode
_ECAT_Slave_R1_EC5621_Set_MEL_Inverse
_ECAT_Slave_R1_EC5621_Set_PEL_Inverse
_ECAT_Slave_R1_EC5621_Set_Svon_Inverse
_ECAT_Slave_R1_EC5621_Set_Home_Slow_Down
_ECAT_Slave_R1_EC5621_Get_IO_Status
_ECAT_Slave_R1_EC5621_Get_Single_IO_Status
20-2
API
EtherCAT Programming Guide
Description
Set the mode of pulse output.
Set the mode of pulse input.
Set the contact type (NC/NO) of the origin switch
(ORG).
Set the contact type (NC/NO) of encoder's Z pulse
(QZ).
Apply the special mode when homing.
Set the contact type (NC/NO) of the negative limit
switch (MEL).
Set the contact type (NC/NO) of the positive limit
switch (PEL).
Set the contact type (NC/NO) of the servo enable
switch (Svon).
It sets the deceleration time after the motor
reaches the origin
Acquire the status of all I/O points
Acquire the status of single I/O point.
March, 2017