Ecat_Slave_R1_Ecx62X_Set_Home_Slow_Down - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

21.9 _ECAT_Slave_R1_ECx62x_Set_Home_Slow_Down


Syntax
U16 PASCAL _ECAT_Slave_R1_ECx62x_Set_Home_Slow_Down (U16 CardNo, U16 NodeID,
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
NodeID
SlotNo
Enable
SlowDownTime
WaitTime

Example
U16 Status = 0;
U16 CardNo=16, NodeID =7, SlotNo=0;
U16 Enable=1, SlowDownTime = 1000, WaitTime= 1000;
Status= _ECAT_Slave_R1_ECx62x_Set_Home_Slow_Down (CardNo, NodeID, 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-ECx62xD0 Series)
Description
Card No.
Node ID
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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