EtherCAT Programming Guide
(7) Reset the feedback value and clear the alarm
Press the RESET key (as shown in figure 3.4.2.4) to execute the following program:
RetCode = _ECAT_Slave_Motion_Set_Position(gESCCardNo, gNodeID, gSlotID, 0);
// Clear feedback first (Value showed in servo drive panel will be set to 0).
RetCode = _ECAT_Slave_Motion_Set_Command(gESCCardNo,gNodeID,gSlotID,0);
// Then clear the command.
Press the RALM key (as shown in figure 3.4.2.4) to execute the alarm clearing command:
RetCode = _ECAT_Slave_Motion_Ralm(gESCCardNo, gNodeID, gSlotID);
// Clear the alarm of slave station.
(8) Exit program
Press the Exit key to exit and close the program.
Execute "_ECAT_Master_Reset" and "_ECAT_Master_Close" to exit the function. Detailed
description about these two API is presented in section 3.1.2 Exit program.
March, 2017
EtherCAT Operation Example
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