Delta EtherCAT Programming Manual page 348

EtherCAT Programming Guide
22.5 _ECAT_Slave_DeltaServo_Set_Compare_Enable

Syntax
U16 PASCAL _ECAT_Slave_DeltaServo_Set_Compare_Enable(U16 CardNo, U16 AxisNo, U16
SlotNo, U16 Enable, U16 CompareSource, U16 SignalLength, U16 SignalPolarity)

Purpose
This is for writing the pulse compare parameter, which is identical to Delta servo parameter
P5-59.

Parameter
Name
CardNo
AxisNo
SlotNo
Enable
CompareSource
SignalLength
SignalPolarity

Example
U16 Status = 0;
U16 CardNo=16, AxisNo = 1, SlotNo = 0, Enable=1, CompareSource=1, SignalLength=1,
SignalPolarity=1;
Status=_ECAT_Slave_DeltaServo_Set_Compare_Enable (CardNo, AxisNo, SlotNo, Enable,
CompareSource, SignalLength, SignalPolarity);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
U16 Option
U16 Option
U16 Millisecond
U16 Option
Operation of Delta Servo System
Description
Card number
Axis number
Slot ID
Compare function of the servo drive
1: Enable
2: Disable
Source for the pulse compare function:
0: Capture Axes (not supported by A2-E servo drive).
1: AUX ENC (linear scale). (only supported by A2R-E
servo drive)
2: External pulse command (not supported by A2-E
servo drive).
3: Main ENC (Main encoder).
Trigger duration of the output signal
Polarity of the output signal.
0: High-potential trigger (NO)
1: Low-potential trigger (NC)
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