Ecat_Slave_R1_Ec5621_Set_Home _Slow_Down - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

20.9 _ECAT_Slave_R1_EC5621_Set_Home _Slow_Down

 Syntax
U16 PASCAL _ECAT_Slave_R1_EC5621_Set_Home_Slow_Down (U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 Enable, U16 SlowDownTime, U16 WaitTime)
 Purpose
It sets the deceleration time after the motor reaches the origin:
1. If the motor runs in reverse direction, it sets the deceleration of the 1
time after the motor stops.
2. If the motor runs forward, only the setting of WaitTime is valid.
This API will be invalid when the positive / negative limit is regarded as the origin.
 Parameter
Name
CardNo
AxisNo
SlotNo
Enable
SlowDownTime
WaitTime
 Example
U16 Status = 0;
U16 CardNo=16, AxisNo =1, SlotNo=0, Enable=1, SlowDownTime =1, WaitTime=1;
Status= _ECAT_Slave_R1_EC5621_Set_Home_Slow_Down (CardNo, AxisNo, SlotNo,
Enable, SlowDownTime, WaitTime);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
U16 Option
U16 Millisecond
U16 Millisecond
Operation of Pulse Module (R1-EC5621D0)
Description
Card number
Axis number
Slot ID
0: Disable
1: Enable
The deceleration time when motor reaches the limit.
The waiting time after the motor reaches the limit and
then stops.
st
speed and the waiting
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