Delta EtherCAT Programming Manual page 82

EtherCAT Programming Guide
_ECAT_Slave_PV_Start_Move
_ECAT_Slave_PV_Advance_Config
_ECAT_Slave_VL_Start_Move
_ECAT_Slave_PT_Start_Move
_ECAT_Slave_PT_Advance_Config
_ECAT_Slave_User_Motion_Control_Set_Enable_
Mode
_ECAT_Slave_User_Motion_Control_Get_Enable_
Mode
_ECAT_Slave_User_Motion_Control_Set_Type
_ECAT_Slave_User_Motion_Control_Set_Data
_ECAT_Slave_User_Motion_Control_Clear_Data
_ECAT_Slave_User_Motion_Control_Get_DataCnt
_ECAT_Slave_User_Motion_Control_ Ralm
_ECAT_Slave_User_Motion_Control_ Svon
_ECAT_Slave_User_Motion_Control_Get_Alm
_ECAT_Slave_DIO_Get_Input_Value
_ECAT_Slave_DIO_Get_Output_Value
_ECAT_Slave_DIO_Set_Output_Value
_ECAT_Slave_DIO_Get_Single_Input_Value
_ECAT_Slave_DIO_Get_Single_Output_Value
_ECAT_Slave_DIO_Set_Single_Output_Value
March, 2017
API List of EtherCAT Dynamic-Link Library
Profile Velocity Mode (PV)
Execute the single-axis motion with constant speed
in PV mode
Advanced setting of PV mode
Invertor Motion Control
Inverter single-axis motion control with constant
speed. (Delta inverter only)
Profile Torque Mode (PT)
Execute the single-axis motion with constant torque
in PT mode
Advanced setting of PT mode
Group Motion Control
Set the group status.
*Please note that before enabling the group, users
should apply Set_Motion_Control_Type to specify
the axis for one group and use
_ECAT_Slave_User_Motion_Control_ Svon and
_ECAT_Slave_User_Motion_Control_Get_Alm to
confirm the status of each axis.
Acquire the status in the current group.
Set the motion mode in the specified group.
Set the data of each axis in the specified group.
Clear the data of each axis in the specified group.
Read the data number that have not been
processed in the specified group.
Reset the alarm of all axes in the specified group.
Enable/disable all axes in the specified group.
Acquire the current alarm status in the specified
group.
Operation of DI/DO module
Acquire the DI status
Acquire the DO status
Set the DO status
Acquire the input value of the specified channel
Acquire the output value of the specified channel
Set the output value of the specified channel
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