EtherCAT Programming Guide
20.5 _ECAT_Slave_R1_EC5621_Set_Home_SpMode
Syntax
U16 PASCAL _ECAT_Slave_R1_EC5621_Set_Home_SpMode (U16 CardNo, U16 AxisNo, U16
SlotNo, U16 Mode)
Purpose
This is for applying the special mode when homing. (For special applications only.) EtherCAT
master will look for encoder's Z pulse (QZ) at extremely low speed.)
Parameter
Name
CardNo
AxisNo
SlotNo
Mode
Example
U16 Status = 0;
U16 CardNo=16 , AxisNo =1, SlotNo=0;
U16 Mode=0;
Status= _ECAT_Slave_R1_EC5621_Set_Home_SpMode (CardNo, AxisNo,SlotNo, Mode);
March, 2017
Data type
Property
U16
Number
U16
Number
U16
Number
U16
Option
Operation of Pulse Module (R1-EC5621D0)
Description
Card number
Node ID
Slot ID
0: Mode 0 (Normal)
1: Mode 1 (Special); EtherCAT master will look for
encoder's Z pulse (QZ) at extremely low speed.
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