Delta EtherCAT User Manual

EtherCAT Programming Guide Operation of Pulse Module (R1-ECx62xD0 Series)
March, 2017 21-7
21
21.5 _ECAT_Slave_R1_ECx62x_Set_Home_SpMode

Syntax
U16 PASCAL _ECAT_Slave_R1_ECx62x_Set_Home_SpMode (U16 CardNo, U16 AxisNo, U16
SlotNo, U16 Mode)

Purpose
This is for applying the special mode when homing. (For special applications only. EtherCAT
master will look for encoder’s Z pulse (QZ) at extremely low speed.)

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Mode U16 Option
0: Mode 0 (Normal)
1: Mode 1 (Special); EtherCAT master will look for
encoder’s Z pulse (QZ) at extremely low speed.

Example
U16 Status = 0;
U16 CardNo=16 , AxisNo =1, SlotNo=0;
U16 Mode=0;
Status= _ECAT_Slave_R1_ECx62x_Set_Home_SpMode (CardNo, AxisNo,SlotNo, Mode);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English