Ecat_Slave_R1_Ecx62X_Set_Home_Spmode - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

21.5 _ECAT_Slave_R1_ECx62x_Set_Home_SpMode


Syntax
U16 PASCAL _ECAT_Slave_R1_ECx62x_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_ECx62x_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-ECx62xD0 Series)
Description
Card No.
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.
21
21-7