Delta EtherCAT Programming Manual page 34

EtherCAT Programming Guide
(2) Set Node ID and Slot ID for the servo drive and enable motion status display
Select Node ID and Slot ID and check the Timer box to display the motion status.
Set NodeID: Specify the Node ID to be executed. The parameters "AxisNo." and "SlotNo"
in the API function.
Timer: Check the Timer box to display the current motion status.
(3) Enter the acceleration/deceleration time and rotation speed per minute (rpm).
Velocity: Input the target speed. The parameter "RPM" in the API function. *The actual
rpm value is 0.1 time of the variable Velocity.
Acc: Input the duration from current speed to target speed. The parameter "Tacc" in the
API function.
Dec: Input the duration to decelerate from current speed to 0. The parameter "Tdec" in the
API function.
(4) Set the servo motor to ON/OFF state (servo on/servo off)
Press the SVON key (as shown in figure 3.4.2.4) to execute the following program:
RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID, gSlotID, ON_OFF);
// ON_OFF:
// 0: Servo OFF.
// 1: Servo ON.
March, 2017
Figure 3.4.2.2
Figure 3.4.2.3
Figure 3.4.2.4
EtherCAT Operation Example
3
3-13