Delta EtherCAT User Manual

EtherCAT Programming Guide Operation of Pulse Module (R1-EC5621D0)
March, 2017 20-11
20
20.9 _ECAT_Slave_R1_EC5621_Set_Home _Slow_Down
 Syntax
U16 PASCAL _ECAT_Slave_R1_EC5621_Set_Home_Slow_Down (U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 Enable, U16
SlowDownTime, U16 WaitTime)
 Purpose
It sets the deceleration time after the motor reaches the origin:
1. If the motor runs in reverse direction, it sets the deceleration of the 1
st
speed and the waiting
time after the motor stops.
2. If the motor runs forward, only the setting of WaitTime is valid.
This API will be invalid when the positive / negative limit is regarded as the origin.
 Parameter
Name Data type Property Description
CardNo U16 Number Card number
AxisNo U16 Number Axis number
SlotNo U16 Number Slot ID
Enable U16 Option
0: Disable
1: Enable
SlowDownTime U16 Millisecond The deceleration time when motor reaches the limit.
WaitTime U16 Millisecond
The waiting time after the motor reaches the limit and
then stops.
 Example
U16 Status = 0;
U16 CardNo=16, AxisNo =1, SlotNo=0, Enable=1, SlowDownTime =1, WaitTime=1;
Status= _ECAT_Slave_R1_EC5621_Set_Home_Slow_Down (CardNo, AxisNo, SlotNo,
Enable, SlowDownTime, WaitTime);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English