Delta EtherCAT Programming Manual page 349

Operation of Delta Servo System
22.6 _ECAT_Slave_DeltaServo_Get_Compare_Enable

Syntax
22
U16 PASCAL _ECAT_Slave_DeltaServo_Get_Compare_Enable(U16 CardNo, U16 AxisNo, U16
SlotNo, U16* Enable, U16* CompareSource, U16* SignalLength, U16* SignalPolarity)

Purpose
This is for reading the pulse compare parameter that is written in the servo drive, 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, CompareSource, SignalLength,
SignalPolarity;
Status=_ECAT_Slave_ DeltaServo_Get_Compare_Enable (CardNo, AxisNo, SlotNo,
&Enable, &CompareSource, &SignalLength, &SignalPolarity);
22-8
Data type Property
U16 Number
U16 Number
U16 Number
U32 Option
U32 Option
U32 Millisecond
U32 Option
EtherCAT Programming Guide
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: Feedback pulse of the servo drive.
Trigger duration of the output signal
Polarity of the output signal.
0: High-potential trigger (NO)
1: Low-potential trigger (NC)
March, 2017