Delta EtherCAT Programming Manual page 4

6.6 _ECAT_Master_Get_SlaveNum ············································································ 6-8
6.7 _ECAT_Master_Get_Slave_Info ············································································ 6-9
6.8 _ECAT_Master_Get_DC_Status ·········································································· 6-11
6.9 _ECAT_Master_Get_Connect_Status ··································································· 6-12
6.10 _ECAT_Master_Get_Api_BufferLength ································································ 6-13
6.11 _ECAT_Master_Get_Cycle_SpendTime ······························································· 6-14
6.12 _ECAT_Master_Check_Initial_Done ··································································· 6-15
6.13 _ECAT_Master_Get_Initial_ErrorCode ································································ 6-16
6.14 _ECAT_Master_Check_Working_Counter ···························································· 6-17
6.15 _ECAT_Master_Get_Return_Code_Message ······················································· 6-18
EtherCAT CoE Standard Communication
7.1 _ECAT_Slave_SDO_Send_Message ····································································· 7-3
7.2 _ECAT_Slave_SDO_Read_Message ····································································· 7-4
7.3 _ECAT_Slave_SDO_Quick_Send_Message ···························································· 7-5
7.4 _ECAT_Slave_SDO_Quick_Read_Message ···························································· 7-6
7.5 _ECAT_Slave_SDO_Read_Response ···································································· 7-7
7.6 _ECAT_Slave_SDO_Wait_All_Done ······································································· 7-8
7.7 _ECAT_Slave_SDO_Get_ErrorCode ······································································ 7-9
7.8 _ECAT_Slave_SDO_Check_Done ······································································· 7-11
7.9 _ECAT_Slave_PDO_Get_OD_Data ····································································· 7-12
7.10 _ECAT_Slave_PDO_Set_OD_Data ···································································· 7-13
7.11 _ECAT_Slave_PDO_Get_Information ································································· 7-14
7.12 _ECAT_Slave_PDO_Get_Detail_Mapping ··························································· 7-15
7.13 _ECAT_Slave_PDO_Get_Rx_Data ···································································· 7-16
7.14 _ECAT_Slave_PDO_Get_Tx_Data ····································································· 7-17
7.15 _ECAT_Slave_PDO_Set_Tx_Data ····································································· 7-18
7.16 _ECAT_Slave_PDO_Set_Tx_Detail_Data ···························································· 7-19
General Operation of Motion Axis
8.1 _ECAT_Slave_Motion_Set_Svon ··········································································· 8-3
8.2 _ECAT_Slave_Motion_Ralm ················································································· 8-4
8.3 _ECAT_Slave_Motion_Sd_Stop ············································································ 8-5
8.4 _ECAT_Slave_Motion_Emg_Stop ·········································································· 8-6
8.5 _ECAT_Slave_Motion_Set_Alm_Reaction ······························································· 8-7
8.6 _ECAT_Slave_Motion_Set_Position ······································································· 8-8
8.7 _ECAT_Slave_Motion_Set_Command ···································································· 8-9
8.8 _ECAT_Slave_Motion_Set_MoveMode ·················································· 8-10
8.9 _ECAT_Slave_Motion_Get_MoveMode································································· 8-11
8.10 _ECAT_Slave_Motion_Get_ControlWord ····························································· 8-12
March, 2017