Delta EtherCAT Programming Manual

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Delta

EtherCAT

Programming Guide

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Delta

EtherCAT

Programming Guide

March, 2017

Table of Contents

Introduction to API Library

1.1 How to use function libraries? ··············································································· 1-2

1.2 Start a new project ······························································································ 1-2

1.2.1 Using VC ······································································································ 1-2

1.2.2 Using VB ······································································································ 1-2

1.2.3 Using VB.Net ································································································ 1-2

1.2.4 Using C# ······································································································ 1-3

EtherCAT Introduction

2.1 Maximum number of the slave device ····································································· 2-2

2.2 Initialize RTX runtime environment ········································································· 2-3

2.3 Introduction to RTSS Task Manager ······································································· 2-4

EtherCAT Operation Example

3.1 EtherCAT Initialization ························································································· 3-3

3.1.1 Function list ·································································································· 3-3

3.1.2 Application examples ······················································································ 3-3

3.2 Motion control of homing ······················································································ 3-6

3.2.1 Function list ·································································································· 3-6

3.2.2 Application examples ······················································································ 3-6

3.3 Torque control ···································································································· 3-9

3.3.1 Function list ·································································································· 3-9

3.3.2 Application examples ······················································································ 3-9

3.4 Constant speed control ······················································································ 3-12

3.4.1 Function list ································································································ 3-12

3.4.2 Application examples ···················································································· 3-12

3.5 Motion control in PP mode ·················································································· 3-16

3.5.1 Function list ································································································ 3-16

3.5.2 Application examples ···················································································· 3-16

3.6 Motion control in CSP mode ··············································································· 3-20

3.6.1 Function list ································································································ 3-20

3.6.2 Application examples ···················································································· 3-21

3.7 EtherCAT Slave IO control (digital input) ································································ 3-38

March, 2017

3.7.1 Function list ································································································ 3-38

3.7.2 Application examples ···················································································· 3-38

3.8 EtherCAT Slave IO control (digital output) ······························································ 3-40

3.8.1 Function list ································································································ 3-40

3.8.2 Application examples ···················································································· 3-40

3.9 Application of EtherCAT analog input module (R1-EC-8124 ) ······································ 3-42

3.9.1 Function list ································································································ 3-42

3.9.2 Application examples ···················································································· 3-42

3.10 Application of EtherCAT analog output module (R1-EC-9144) ··································· 3-44

3.10.1 Function list ······························································································· 3-44

3.10.2 Application examples··················································································· 3-44

3.11 Application of EtherCAT Compare function for PCI card (PCI-L221-B1) ······················· 3-47

3.11.1 Function list ······························································································· 3-47

3.11.2 Appli cation examples ··················································································· 3-48

API List of Dynamic-Link Library

4.1 Data T y pe and Setting Range ··············································································· 4-2

4.2 API list and descriptions ······················································································· 4-2

EtherCAT Master Configuration

5.1 _ECAT_Master_Set_CycleTime············································································· 5-3

5.2 _ECAT_Master_Get_CycleTime ············································································ 5-4

5.3 _ECAT_Master_NodeID_Alias_Enable···································································· 5-5

5.4 _ECAT_Get_SerialNo·························································································· 5-6

5.5 _ECAT_Master_Get_DLL_SeqID ··········································································· 5-7

5.6 _ECAT_Autoconfig_Open_File ·············································································· 5-8

5.7 _ECAT_Autoconfig_Save_File ·············································································· 5-9

5.8 _ECAT_Autoconfig_Set_Slave_DCTime ································································ 5-10

5.9 _EACT_Autoconfig_Clear_ConfigFile ··································································· 5-11

5.10 _ECAT_Autoconfig_Set_NodeID_Alias ································································ 5-12

5.11 _ECAT_Autoconfig_Get_NodeID_Alias ································································ 5-14

5.12 _ECAT_Autoconfig_Save_NodeID_Alias ····························································· 5-15

Master Initialization

6.1 _ECAT_Master_Open ························································································· 6-3

6.2 _ECAT_Master_Initial ·························································································· 6-4

6.3 _ECAT_Master_Reset ························································································· 6-5

6.4 _ECAT_Master_Close ························································································· 6-6

6.5 _ECAT_Master_Get_CardSeq ·············································································· 6-7

March, 2017

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

7.1 1 _EC AT_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································································· 8-1 1

8.10 _ECAT_Slave_Motion_Get_ControlWord ····························································· 8-12

March, 2017

8.11 _EC AT_Slave_Motion_Get_StatusWord ······························································ 8-14

8.12 _ECAT_Slave_Motion_Get_Mdone ···································································· 8-16

8.13 _ECAT_Slave_Motion_Get_Position ··································································· 8-17

8.14 _ECAT_Slave_Motion_Get_Command ································································ 8-18

8.15 _ECAT_Slave_Motion_Get_T arget_Command ······················································ 8-19

8.16 _ECAT_Slave_Motion_Get_Actual_Position ························································· 8-20

8.17 _ECAT_Slave_Motion_Get_Actual_Command ······················································ 8-21

8.18 _ECAT_Slave_Motion_Get_Current_Speed ························································· 8-22

8.19 _ECAT_Slave_Motion_Get_Torque ···································································· 8-23

8.20 _ECAT_Slave_Motion_Get_Buffer_Length ··························································· 8-24

8.21 _ECAT_Slave_Motion_Set_TouchProbe_Config ···················································· 8-25

8.22 _ECAT_Slave_Motion_Set_TouchProbe_QuickStart ·············································· 8-28

8.23 _ECAT_Slave_Motion_Set_TouchProbe_QuickDone ·············································· 8-30

8.24 _ECAT_Slave_Motion_Set_TouchProbe_Disable ·················································· 8-32

8.25 _ECAT_Slave_Motion_Get_TouchProbe_Status ···················································· 8-33

8.26 _ECAT_Slave_Motion_Get_TouchProbe_Position ················································· 8-35

Cyclic Synchronous Position Mode (CSP)

9.1 _ECAT_Slave_CSP_Start_Move ········································································ 9-5

9.2 _ECAT_Slave_CSP_Start_V_Move ····································································· 9-7

9.3 _ECAT_Slave_CSP_Start_Arc_Move ··································································· 9-8

9.4 _ECAT_Slave_CSP_Start_Arc2_Move ······························································· 9-10

9.5 _ECAT_Slave_CSP_Start_Arc3_Move ······························································· 9-12

9.6 _ECAT_Slave_CSP_Start_Spiral_Move ······························································ 9-14

9.7 _ECAT_Slave_CSP_Start_Spiral2_Move ···························································· 9-15

9.8 _ECAT_Slave_CSP_Start_Sphere_Move ···························································· 9-17

9.9 _ECAT_Slave_CSP_Start_Heli_Move ································································ 9-18

9.10 _ECAT_Slave_CSP_Start_Multiaxes_Move ························································· 9-20

9.11 _EC AT_Slave_CSP_Start_Msbrline_Move ··························································· 9-21

9.12 _ECAT_Slave_CSP_Set_Gear ·········································································· 9-25

9.13 _ECAT_Slave_CSP_Set_Softlimit ······································································ 9-26

9.14 _ECAT_Slave_CSP_TargetPos_Change ····························································· 9-27

9.15 _ECAT_Slave_CSP_Velocity_Change ································································ 9-28

9.16 _ECAT_Slave_CSP_Feedrate_Overwrite ····························································· 9-29

9.17 _ECAT_Slave_CSP_Speed_Continue_Enable ······················································ 9-33

9.18 _ECAT_Slave_CSP_Speed_Continue_Set_Mode ················································· 9-34

9.19 _ECAT_Slave_CSP_Speed_Continue_Set_Combine_ Ratio ···································· 9-37

9.20 _ECAT_Slave_CSP_Scurve_Rate ······································································ 9-38

9.21 _ECAT_Slave_CSP_Liner_Speed_Master ··························································· 9-39

9.22 _ECAT_Slave_CSP_Mask_Axis ········································································ 9-41

March, 2017

9.23 _ECAT_Slave_CSP_Sync_Config ······································································ 9-42

9.24 _ECAT_Slave_CSP_Sync_Move ······································································· 9-43

9.25 _ECAT_Slave_CSP_Start_Mabrline_Move ··························································· 9-44

9.26 _ECAT_Slave_CSP_Start_2Segment_Move ························································ 9-46

9.27 _ECAT_Slave_CSP_Start_PVT_Move ································································ 9-48

9.28 _ECAT_Slave_CSP_Start_PVTComplete_Move ··················································· 9-50

9.29 _ECAT_Slave_CSP_Virtual_Set_Enable ····························································· 9-52

9.30 _ECAT_Slave_CSP_Virtual_Set_Command ························································· 9-53

9.31 _ECAT_Slave_CSP_Get_SoftLimit_Status ··························································· 9-54

9.32 _ECAT_Slave_CSP_Pitch_Set_Interval ······························································· 9-55

9.33 _ECAT_Slave_CSP_Pitch_Set_Mode ································································· 9-56

9.34 _ECAT_Slave_CSP_Pitch_Set_Org ··································································· 9-57

9.35 _ECAT_Slave_CSP_Pitch_Set_Rel_T a ble ··························································· 9-58

9.36 _ECAT_Slave_CSP_Pitch_Set_Abs_Table ··························································· 9-59

9.37 _ECAT_Slave_CSP_Pitch_Set_Enable ······························································· 9-60

Cyclic Synchronous Velocity Mode (CSV)

10.1 _ECAT_Slave_CSV_Start_Move ········································································ 10-2

10.2 _ECAT_Slave_CSV_Multi_Start_Move ································································ 10-3

Cyclic Synchronous Torque Mode (CST)

11.1 _EC AT_Slave_CST_Start_Move ········································································ 11-2
1 1.2 _ECAT_Slave_CST_Multi_Start_Move ································································ 11- 3

Homing

12.1 _ECAT_Slave_Home_Config ············································································ 12-3

12.2 _ECAT_Slave_Home_Move ············································································ 12-19

12.3 _ECAT_Slave_Home_Status ··········································································· 12-20

EtherCAT Profile Position Mode (PP)

13.1 _ECAT_Slave_PP_Start_Move ·········································································· 13-3

13.2 _ECAT_Slave_PP_Advance_Config ··································································· 13-4

EtherCAT Profile Velocity Mode (PV)

14.1 _ECAT_Slave_PV_Start_Move ·········································································· 14-3

14.2 _ECAT_Slave_PV_Advance_Config ··································································· 14-4

March, 2017

Inverter Motion Control

15.1 _ECAT_Slave_VL_Start_Move ·········································································· 15-2

EtherCAT Profile Torque Mode (PT)

16.1 _ECAT_Slave_PT_Start_Move ·········································································· 16-3

16.2 _ECAT_Slave_PT_Advance_Config ··································································· 16-4

Group Motion Control

17.1 _ECAT_Slave_User_Motion_Control_Set _Enable_Mode ········································17-3

17.2 _ECAT_Slave_User_Motion_Control_Get_Enable_Mode ········································ 17-5

17.3 _ECAT_Slave_User_Motion_Control_Set_T ype ···················································· 17-6

17.4 _ECAT_Slave_User_Motion_Control_Set_Data ···················································· 17-8

17.5 _ECAT_Slave_User_Motion_Control_Clear_Data ·················································· 17-9

17.6 _ECAT_Slave_User_Motion_Control_Get_DataCnt ············································· 17-10

17.7 _ECAT_Slave_User_Motion_Control_Ralm ························································ 17-1 1

17.8 _ECAT_Slave_User_Motion_Control_Svon ························································ 17-12

17.9 _ECAT_Slave_User_Motion_Control_Get_Alm ··················································· 17-13

Operation of DI/DO Module

18.1 _ECAT_Slave_DIO_Get_Input_Value ·································································· 18-3

18.2 _ECAT_Slave_DIO_Get_Output_Value ······························································· 18-4

18.3 _ECAT_Slave_DIO_Set_Output_Val ue ································································ 18-5

18.4 _ECAT_Slave_DIO_Get_Single_Input_Value ························································ 18-6

18.5 _ECAT_Slave_DIO_Get_Single_Output_Value ····················································· 18-7

18.6 _ECAT_Slave_DIO_Set_Single_Output_Value ······················································ 18-8

18.7 _ECAT_Slave_DIO_Set_Output_Error_Mode ······················································· 18-9

18.8 _ECAT_Slave_DIO_Set_Output_Error_Value ····················································· 18-10

Operation of AI/AO Module

19.1 _ECAT_Slave_AIO_Get_Input_Value ·································································· 19-3

19.2 _ECAT_Slave_AIO_Set_Output_Value ································································ 19-4

19.3 _ECAT_Slave_AIO_Get_Output_Value ······························································· 19-5

Operation of Pulse Module (For R1-EC5621D0 Series)

20.1 _ECAT_Slave_R1_EC5621_Set_Output_Mode ····················································· 20-3

20.2 _ECAT_Slave_R1_EC5621_Set_Input_Mode ······················································· 20-4

20.3 _ECAT_Slave_R1_EC5621_Set_ORG_Inverse ···················································· 20-5

20.4 _ECAT_Slave_R1_EC5621_Set_QZ_Inverse ······················································· 20-6

March, 2017

20.5 _ECAT_Slave_R1_EC5621_Set_Home_SpMode ·················································· 20-7

20.6 _ECAT_Slave_R1_EC5621_Set_MEL_Inverse ····················································· 20-8

20.7 _ECAT_Slave_R1_EC5621_Set_PEL_Inverse ······················································ 20-9

20.8 _ECAT_Slave_R1_EC5621_Set_Svon_Inverse ·················································· 20-10

20.9 _ECAT_Slave_R1_EC5621_Set_Home _Slow_Down ·········································· 20-11

20.10 _ECAT_Slave_R1_EC5621_Get_IO_Status ····················································· 20-12

20.1 1 _ECAT_Slave_R1_EC56 21_Get_Single_IO_Status ············································ 20-13

Operation of Pulse Module (For R1-ECx62xD0 Series)

21.1 _ECAT_Slave_R1_ECx62x_Set_Output_Mode ····················································· 21-3

21.2 _ECAT_Slave_R1_ECx62x_Set_Input_Mode ······················································· 21-4

21.3 _ECAT_Slave_R1_ECx62x_Set_ORG_Inverse ····················································· 21-5

21.4 _ECAT_Slave_R1_ECx62x_Set_QZ_Inverse ······················································· 21-6

21.5 _ECAT_Slave_R1_ECx62x_Set_Home_SpMode ·················································· 21-7

21.6 _ECAT_Slave_R1_ECx62x_Set_MEL_Inverse ····················································· 21-8

21.7 _ECAT_Slave_R1_ECx62x_Set_PEL_Inverse ······················································ 21-9

21.8 _ECAT_Slave_R1_ECx62x_Set_Svon_Inverse ··················································· 21-10

21.9 _ECAT_Slave_R1_ECx62x_Set_Home_Slow_Down ············································ 21-11

21.10 _ECAT_Slave_R1_ECx62x_Get_IO_Status ······················································ 21-12

21.1 1 _ECAT_Slave_R1_ECx 62x _Get_Single_IO_Status ············································ 21-13

Operation of Delta Servo System

22.1 _ECAT_Slave_DeltaServo_Write_Parameter ························································ 22-3

22.2 _ECAT_Slave_DeltaServo_Read_Parameter ························································ 22-4

22.3 _ECAT_Slave_DeltaServo_Read_Parameter_Info ················································· 22-5

22.4 _ECAT_Slave_DeltaServo_Set_Velocity_Limit ······················································ 22-6

22.5 _ECAT_Slave_DeltaServo_Set_Compare_Enable ················································· 22-7

22.6 _ECAT_Slave_DeltaServo_Get_Compare_Enable ················································· 22-8

22.7 _ECAT_Slave_DeltaServo_Set_Compare_Config ·················································· 22-9

Analog Input Settings (For R1-EC8124D0)

23.1 _ECAT_Slave_R1_EC8124_Set_Input _RangeMode ············································· 23-3

23.2 _ECAT_Slave_R1_EC8124_Set_Input _ConvstFreq_Mode ····································· 23-4

23.3 _ECAT_Slave_R1_EC8124_Set_Input_Enable ····················································· 23-5

23.4 _ECAT_Slave_R1_EC8124_Get_Input _RangeMode ············································· 23-6

23.5 _ECAT_Slave_R1_EC8124_Set_Input _AverageMode ··········································· 23-7

Analog Output Settings (For R1-EC9144D0 Series)

24.1 _ECAT_Slave_R1_EC9144_Set_Output _RangeMode ··········································· 24-3

March, 2017

24.2 _ECAT_Slave_R1_EC9144_Set_Output_Enable ··················································· 24-4

24.3 _ECAT_Slave_R1_EC9144_Get_Output _ReturnCode ··········································· 24-5

Auto Recording Function of Motion Axis

25.1 _ECAT_Slave_Record_Set_Type ······································································· 25-3

25.2 _ECAT_Slave_Record_Set_Enable ···································································· 25-4

25.3 _ECAT_Slave_Record_Get_Cnt ········································································ 25-5

25.4 _ECAT_Slave_Record_Read_Data ···································································· 25-6

25.5 _ECAT_Slave_Record_Clear_Data ···································································· 25-7

25.6 _ECAT_Slave_Record_Multi_Set_Enable ···························································· 25-8

25.7 _ECAT_Slave_Record_Multi_Clear_Data ···························································· 25-9

Operation of Local Digital I/O

26.1 _ECAT_GPIO_Set_Output ················································································ 26-3

26.2 _ECAT_GPIO_Get_Output ··············································································· 26-4

26.3 _ECAT_GPIO_Get_Input ·················································································· 26-5

High-Speed Pulse Compare Function

27.1 _ECAT_Compare_Set_Channel_Position ···························································· 27-4

27.2 _ECAT_Compare_Get_Channel_Position ···························································· 27-5

27.3 _ECAT_Compare_Set_Ipulser_Mode ·································································· 27-6

27.4 _ECAT_Compare_Set_Channel_Direction ··························································· 27-7

27.5 _ECAT_Compare_Set_Channel_Trigger_Time ····················································· 27-8

27.6 _ECAT_Compare_Set_Channel_One_Shot ·························································· 27-9

27.7 _ECAT_Compare_Set_Channel_Source···························································· 27-10

27.8 _ECAT_Compare_Set_Channel_Enable ···························································· 27-11

27.9 _ECAT_Compare_Channel0_Position ······························································· 27-12

27.10 _ECAT_Compare_Set_Channel0_Trigger _By_GPIO ········································· 27-13

27.1 1 _ECAT_Compare_S et_Channel1_Output_Enable ·············································· 27-14

27.12 _ECAT_Compare_Set_Channel1_Output_Mode ················································ 27-15

27.13 _ECAT_Compare_Get_Channel1_IO_Status ···················································· 27-17

27.14 _ECAT_Compare_Set_Channel1_GPIO_Out ···················································· 27-18

27.15 _ECAT_Compare_Set_Channel1_Position_Table ·············································· 27-19

27.16 _ECAT_Compare_Set_Channel1_Position _Table_Level ····································· 27-21

27.17 _ECAT_Compare_Get_Channel1_Position _Table_Count ···································· 27-24

27.18 _ECAT_Compare_Set_Channel_Polarity ························································· 27-25

27.19 _ECAT_Compare_Reuse_Channel1_Position _Table ········································· 27-26

27.20 _ECAT_Compare_Reuse_Channel1_Position _Table_Level ································· 27-27

March, 2017

Information of EtherCAT Dynamic-Link Library (DLL)

28.1 _ECAT_Master_Get_DLL_Path ········································································· 28-2

28.2 _ECAT_Master_Get_DLL_Version ····································································· 28-3

28.3 _ECAT_Master_Get_DLL_Path_Single ······························································· 28-4

28.4 _ECAT_Master_Get_DLL_Version_Single ···························································· 28-5

Security of Software Protection

29.1 _ECAT_Security_Check_Verify key ····································································· 29-2

29.2 _ECAT_Security_Get_Check_Verifykey_State ······················································ 29-3

29.3 _ECAT_Security_Write_Verifykey ······································································· 29-4

29.4 _ECAT_Security_Get_Write_Verifykey_State ························································ 29-5

29.5 _ECAT_Security_Check_UserPassword ······························································ 29-6

29.6 _ECAT_Security_Get_Check_UserPassword _State ·············································· 29-7

29.7 _ECAT_Security_Write_UserPassword ······························································· 29-8

29.8 _ECAT_Security_Get_Write_UserPassword_State ················································ 29-9

Operating MRAM on PAC

30.1 _ECAT_Master_MRAM_Write_Word_Data ··························································· 30-2

30.2 _ECAT_Master_MRAM_Read_Word_Data ·························································· 30-3

30.3 _ECAT_Master_MRAM_Write_DWord_Data························································· 30-4

30.4 _ECAT_Master_MRAM_Read_DWord_Data ························································ 30-5

Retentive Digital Output of the Module (For 70E2 Series)

31.1 _ECAT_Slave_R1_EC70E2_Set_Output_Enable ·················································· 31-2

Retentive Digital Output of the Module (For 70X2 Series)

32.1 _ECAT_Slave_R1_EC70X2_Set_Output_Enable ·················································· 32-2

MPG Operation (For R1-EC5614D0 Series)

33.1 _ECAT_Slave_R1_EC5614_Set_MJ_Config ························································ 33-3

33.2 _ECAT_Slave_R1_EC5614_Set_MJ_Enable ························································ 33-5

33.3 _ECAT_Slave_R1_EC5614_Get_IO_Status ························································· 33-6

33.4 _ECAT_Slave_R1_EC5614_Get_MPG_Counter ··················································· 33-7

Error Code Description

34.1 List of error code ···························································································· 34-2

34.2 Error code description ···················································································· 34-10

March, 2017

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March, 2017 1-1

Introduction to

API Function Library

This chapter introduces APIs of EtherCAT dynamic-link library (DLL). Users can

perform various functions through calling these API libraries. The contents below

provide instructions on how to import API libraries into your developing environment.



1.1 How to use function libraries? ······························································· 1-2

1.2 Start a new project ············································································· 1-2

1.2.1 Using VC ··················································································· 1-2

1.2.2 Using VB ··················································································· 1-2

1.2.3 Using VB.Net ·············································································· 1-2

1.2.4 Using C# ··················································································· 1-3

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1.1 How to use function libraries?

When the installation program is completed, two function libraries will be found in the folder

named “lib”. They can be used in Visual Studio C and Borland C++ respectively.

Function library Development environment

EtherCatDll.lib Visual Studio C++

BCBEtherCAT_DLL.lib Borland C++Builder 6

1.2 Start a new project

1.2.1 Using VC

(1) Place following instructions in the user-built project:

#include “EtherCat_DLL.h”

#include “EtherCat_DLL_Err.h”

(2) Select Project / Setting / Link in Visual C development environment.

Then, type “..\lib\EtherCat_DLL.lib” in Object / Library modules

(3) Setup completed. Users can start to operate EtherCAT DLL with API.

1.2.2 Using VB

Place “EtherCat_DLL.bas” and “EtherCat_DLL_Err.bas” in the project created by users to control

EtherCAT DLL with API.

1.2.3 Using VB.Net

Place “EtherCat_DLL.vb” and “EtherCat_DLL_Err.vb” in the project created by users to control

EtherCAT DLL with API.

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1.2.4 Using C#

Place “EtherCat_DLL.cs” and “EtherCat_DLL_Err.cs” in user-built project to control EtherCAT

DLL with API.

Note: For C# projects, please tick the Enable native code debugging option in the Debug tab. See figure

below. Serious errors (i.e. blue screen) will occur if this option is not ticked.

Figure 1.2.4.1 Settings for C# project

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March, 2017 2-1

EtherCAT Introduction

This chapter introduces the setting for applying Delta EtherCAT function library,
including the suggested maximum slave number for connection, initialization of RTX
operating system and the description on how to check if the EtherCAT associated DLL
can operate normally in RTS. Please see the contents below for more information.

2.1 Maximum number of the slave device ···················································· 2-2

2.2 Initialize RTX runtime environment ························································ 2-3

2.3 Introduction to RTSS Task Manager ······················································ 2-4

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2.1 Maximum number of the slave device

Delta EtherCAT master has two types of operation system, RTX real-time operating system from
PAC and EtherCAT PCI m otion card. Since the operational efficiency among both differs from
one another, the connected slave number is different.
When EtherCA T master runs in R TX real-time operating system, the default of its comm unication
cycle is 1 ms (1K) and can connect up to remote modules and 64 motion axes, including servo
drives and pulse modules. There is no limitation on quantity of the device that connects to
EtherCAT master. However, if the communication cycle is shorter, the suggested maximum
number of the connected slave will be reduced in accordance with proportion. Please refer to
table 2.1.1 below for the suggested maximum slave quantity to avoid communication instability.
When EtherCAT master runs in PCI motion card, it can connect 64 remote modules and 32
motion axes at most with the default communication cycle 1 ms (1K). Please refer to table 2.1.2.

EtherCAT master runs in RTX real-time operating system of Delta PAC

Communication cycle (ms)

Max. number of the connected

remote module (1 ms)

Max. number of the connected

motion axis (1 ms)

4 ms 100 64
2 ms 100 64
1 ms 100 64

0.5 ms 50 32

0.25 ms 25 16

0.125 ms 22 8

Table 2.1.1 Suggested number of the slave

EtherCAT master runs in Delta PCI EtherCAT motion card

Communication cycle (ms)

Max. number of the connected

remote module (1 ms)

Max. number of the connected

motion axis (1 ms)

4 ms 64 32
2 ms 64 32
1 ms 64 32

0.5 ms 32 16

0.25 ms 16 8

0.125 ms 8 4

Table 2.1.2 Suggested number of the slave

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2.2 Initialize RTX runtime environment

For running the real-time operating system uploaded by synchronous function of EtherCAT
communication, RTX has one CPU and one Ethernet communication port. If you are applying a
Delta EtherCA T motion card, such a s PCI-L221PPI, then there is nothing to do with R TX syst em.
When the host computer has started up, the RTX runtime environment will not be automatically
loaded into the system. It will start running only after instructions related to EtherCAT initialization
API are executed. Or, you can also manually enable RTX. See the steps below.
Once RTX is enabled, you can start to use other related functions and APIs in EtherCAT dynamic
link library.
(1) Open [RTX Properties]
File location: [Start] > [All programs] > [IntervalZero] > [RTX 2012] > [RTX Properties]
(2) Enable RTX devices
After opening [RTX Properties], select the Control tab and check the Driver status. If the driver
status shows “Stopped”, press the Start key to have the RTX devices start running.

Figure 2.2.1 RTX devices in Stopped status

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(3) Check the status of RTX devices
When the status of RTX devices shows “Running”, the user can start to use EtherCAT related
functions.

Figure 2.2.2 RTX devices in Running status

2.3 Introduction to RTSS Task Manager

RTSS Task Manager can be used to check whether the EtherCAT associ ated files
(ECA T _RTX_RTDLL.rtdll, ECAT_S TACK_RTDLL.rtdll) are operating normally in RTX.

Figure 2.3.1

Interface of RTSS Task Manager

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If there is any file missing in Task Manager, users can reload the missing file.
(1) Click the Start T ask key, and the RtssRun window will pop out.

Figure 2.3.2 RtssRun window

(2) Click Browse and select the missing file, which is placed in C:\Windows\system32\.

Figure 2.3.3 Select the missing file

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Then, while the other options remain unchanged, press OK and the file will be loaded into RTX
system.

Figure 2.3.4 Load the missing file

March, 2017 3-1

EtherCAT Operation
Example

This chapter provides the C/C++ examples of EtherCAT dynamic-link library, including

EtherCAT initialization, homing procedure, PT, PV, PP, CSP modes, remote digital

input/output module, analog input/output, and high-speed pulse compare function.

3.1 EtherCAT Initialization ········································································ 3-3

3.1.1 Function list ················································································ 3-3

3.1.2 Application examples ··································································· 3-3

3.2 Motion control of homing ····································································· 3-6

3.2.1 Function list ················································································ 3-6

3.2.2 Application examples ··································································· 3-6

3.3 Torque control ··················································································· 3-9

3.3.1 Function list ················································································ 3-9

3.3.2 Application examples ··································································· 3-9

3.4 Constant speed control ····································································· 3-12

3.4.1 Function list ·············································································· 3-12

3.4.2 Application examples ································································· 3-12

3.5 Motion control in PP mode ································································· 3-16

3.5.1 Function list ·············································································· 3-16

3.5.2 Application examples ································································· 3-16

3.6 Motion control in CSP mode ······························································· 3-20

3.6.1 Function list ·············································································· 3-20

3.6.2 Application examples ································································· 3-21

3.7 EtherCAT Slave IO control (digital input) ··············································· 3-38

3.7.1 Function list ·············································································· 3-38

3.7.2 Application examples ································································· 3-38

3.8 EtherCAT Slave IO control (digital output) ············································· 3-40

3.8.1 Function list ·············································································· 3-40

3.8.2 Application examples ································································· 3-40

3.9 Application of EtherCAT analog input module (R1-EC-8124) ····················· 3-42

3.9.1 Function list ·············································································· 3-42

3.9.2 Application examples ································································· 3-42

3.10 Application of EtherCAT analog output module (R1-EC-9144) ·················· 3-44

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3.10.1 Function list ············································································ 3-44

3.10.2 Application examples ································································ 3-44

3.11 Application of EtherCAT Compare function for PCI card (PCI-L221-B1) ······ 3-47

3.11.1 Function list ············································································ 3-47

3.11.2 Application examples ································································ 3-48

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3.1 EtherCAT initialization

3.1.1 Function list

Function name

_ECAT_Master_Open

_ECAT_Master_Get_CardSeq

_ECAT_Master_Initial

_ECAT_Master_Get_SlaveNum

_ECAT_Master_Reset

_ECAT_Master_Close

_ECAT_Master_Check_Initial_Done

 Properties

Hardware

EtherCAT RTX (PAC) EtherCAT motion card

Supported

Y Y

3.1.2 Application examples

Program interface

Figure 3.1.2.1

(1) Activate interface card

Figure 3.1.2.2

Press the OpenCard key to execute the following program:

RetCode = _ECAT_Master_Open(&gESCExistCards);

/* The variable, gESCExistCards, will return EtherCAT motion card number. */

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(2) Initialize interface card

Figure 3.1.2.3

Press the Initial key to execute the following program:

for(i=0; i< gESCExistCards; i++)

{

RetCode = _ECAT_Master_Get_CardSeq(i, &CardNo);

/* Get the card No. of the PC interface Card i. This card No. is the dip switch value.

EtherCAT card number in RTX version is 16. */

RetCode = _ECAT_Master_Initial(CardNo);

/* Start to initialize the interface card. */

if(RetCode != 0)

{

strMsg.Format("_ECAT_Master_Initial, RetCode = %d", RetCode);

MessageBox(strMsg);

}

}

RetCode = _ECAT_Master_Check_Initial_Done(gESCCardNo, &InitialDone);

/* Get the Initial status. */

// Display the Initial Status:

// InitialDone = 1: Display “Pre Initial”

// InitialDone = 0: Display “Initial Done”

// InitialDone = 99: Display “Initial Error”

(3) Set the information of the connected modules

Figure 3.1.2.5

Press the Find Slave key to execute the following program:

RetCode = _ECAT_Master_Get_SlaveNum(gESCCardNo, &SlaveNum);

// Get the number of the connected modules.

When the above program completes, the number of the found Slave devices will be

displayed in Slave Num field.

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(4) Exit program

Figure 3.1.2.6

Press the Exit key to execute the following program:

for(i=0; i< gESCExistCards; i++)

{

_ECAT_Master_Reset(gpESCCardNoList[i]);

// Reset the interface card.

}

_ECAT_Master_Close();

// End the operation of motion control card.

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3.2 Motion control of homing

3.2.1 Function list

Function name

_ECAT_Slave_Home_Config

_ECAT_Slave_Home_Move

_ECAT_Slave_Motion_Sd_Stop

 Properties

Hardware EtherCAT RTX (PAC) EtherCAT motion card

Supported Y Y

3.2.2 Application examples

Program interface

Figure 3.2.2.1

(1) Activate and initialize interface card

Press the Initial Card key (as shown in figure 3.2.2.1) to start initializing the interface card.

Press the Find Slave key (as shown in figure 3.2.2.1) to start searching the connecting

modules.

For more information about the interface card initialization, please see “Activate interface

card” and “Initialize interface card” in section 3.1.2.

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(2) Enter the parameter for motion control

Figure 3.2.2.2

Select Node ID and Slot ID and check the Timer box to display the motion status.

Set NodeID: Specify the Node ID to be executed. The parameters “AxisNo” and “SlotNo”

in the API function.

Timer: Check the Timer box to display the current motion status.

StrVel.: Input motion speed for homing (pulse sent per second). The parameter

“FirstSpeed” in the API function.

MaxVel.: Input the motion speed after homing to the next index pulse (pulse sent per

second). The parameter “SecondSpeed” in the API function.

Acc.: Input the duration to accelerate to the target speed. The parameter “Tacc” in the API

function.

(3) Set the parameters for homing (homing mode and offset value)

Figure 3.2.2.3

Mode: Homing mode 1 ~ 35. The parameter “Mode” in the API function.

Offset: Homing offset. The parameter “Offset” in the API function.

(4) Set the servo motor to ON/OFF state (servo on/servo off)

Figure 3.2.2.4

Press the SVON key (as shown in figure 3.2.2.4) to execute the following program:

RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID, gSlotID,ON_OFF);

// ON_OFF

// 0: Servo OFF

// 1: Servo ON

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(5) Homing procedures

Press the Homing key (as shown in figure 3.2.2.4) to execute the following program:

RetCode = _ECAT_Slave_Home_Config(gESCCardNo, gNodeID, gSlotID, Mode, Offset,

StrVel, MaxVel, Tacc);

/* Set homing mode: 1 ~ 35, offset and speed parameters, but the servo will not operate

now. */

RetCode = _ECAT_Slave_Home_Move(gESCCardNo, gNodeID, gSlotID);

/* Start homing according to the set parameters. */

(6) Stop homing

To stop homing, press the STOP key (as shown in figure 3.2.2.4) to execute the following

program:

RetCode = _ECAT_Slave_Motion_Sd_Stop(gESCCardNo, gNodeID, gSlotID, Tdec);

/* Interrupt homing process. */

(7) 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.

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3.3 Torque control

3.3.1 Function list

Function name

_ECAT_Slave_PT_Start_Move

_ECAT_Slave_Motion_Emg_Stop

 Properties

Hardware EtherCAT RTX (PAC) EtherCAT motion card

Supported

Y Y

3.3.2 Application examples

Program interface

Figure 3.3.2.1

(1) Activate and initialize interface card

Press the Initial Card key (as shown in figure 3.3.2.1) to start initializing the interface card.

Press the Find Slave key (as shown in figure 3.3.2.1) to start searching the connecting

modules.

For more information about the interface card initialization, please see “Activate interface

card” and “Initialize interface card” in section 3.1.2.

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(2) Set Node ID and Slot ID for the servo drive and enable motion status display

Figure 3.3.2.2

Select Node ID and Slot ID and check the Timer box to display the motion status.

Set NodeID: Specify the Node ID to be executed. The parameters “AxisNo.” and “SlotNo”

in the API function.

Timer: Check the Timer box to display the current motion status.

(3) Enter the Slop and Ratio values

Figure 3.3.2.3

Slop: Input the required time for the rated torque. (unit: ms)

Ratio: Input the permillage of the rated torque value. For example, if the ratio value is 20,

the rated torque will be 2%.

(4) Set the servo motor to ON/OFF state (servo on/servo off)

Figure 3.3.2.4

Press the SVON key (as shown in figure 3.3.2.4) to execute the following program:

RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID, gSlotID, ON_OFF);

// ON_OFF:

// 0: Servo OFF.

// 1: Servo ON.

(5) Torque control

Press the Move key (as shown in figure 3.3.2.4) to execute the following program:

RetCode = _ECAT_Slave_PT_Start_Move(gESCCardNo, gNodeID, gSlotID, Torque,

Slope);

/* Set torque parameters and enable torque control. */

// The motor will run in forward direction if the torque value is greater than 0, and run in

reverse direction if the value is smaller than 0.

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Press the STOP key (as shown in figure 3.3.2.4) to execute the following program:

RetCode = _ECAT_Slave_Motion_Emg_Stop(gESCCardNo, gNodeID, gSlotID);

/* Stop torque control of the motor. */

(6) Status display

Figure 3.3.2.5

Command values of the motion:

RetCode = _ECAT_Slave_Motion_Get_Command(gESCCardNo, gNodeID, gSlotID,

&Cmd);

// Get the command value (CMD. field).

RetCode = _ECAT_Slave_Motion_Get_Position(gESCCardNo, gNodeID, gSlotID, &Pos);

// Get the feedback value of the command (FBK. field).

Motion status:

RetCode = _ECAT_Slave_Motion_Get_StatusWord(gESCCardNo, gNodeID, gSlotID,

&Status);

// Get the current motion status (IO Sts. field).

RetCode = _ECAT_Slave_Motion_Get_Mdone(gESCCardNo, gNodeID, gSlotID,

&MCDone);

// Get the current status of the motor (Motion field).

(7) Reset feedback and clear alarm

Press the RESET key (as shown in figure 3.3.2.4) 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 3.3.2.4) 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.

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3.4 Constant speed control

3.4.1 Function list

Function name

_ECAT_Slave_PV_Start_Move

_ECAT_Slave_Motion_Sd_Stop

 Properties

Hardware EtherCAT RTX (PAC) EtherCAT motion card

Supported

Y Y

3.4.2 Application examples

Program interface

Figure 3.4.2.1

(1) Activate and initialize interface card

Press the Initial Card key (as shown in figure 3.4.2.1) to start initializing the interface card.

Press the Find Slave key (as shown in figure 3.4.2.1) to start searching the connecting

modules.

For more information about the interface card initialization, please see “Activate interface

card” and “Initialize interface card” in section 3.1.2.

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(2) Set Node ID and Slot ID for the servo drive and enable motion status display

Figure 3.4.2.2

Select Node ID and Slot ID and check the Timer box to display the motion status.

Set NodeID: Specify the Node ID to be executed. The parameters “AxisNo.” and “SlotNo”

in the API function.

Timer: Check the Timer box to display the current motion status.

(3) Enter the acceleration/deceleration time and rotation speed per minute (rpm).

Figure 3.4.2.3

Velocit y: Input the target speed. The parameter “RPM” in the API function. *The actual

rpm value is 0.1 time of the variable Velocity.

Acc: Input the duration from current speed to target speed. The parameter “Tacc” in the

API function.

Dec: Input the duration to decelerate from current speed to 0. The parameter “Tdec” in the

API function.

(4) Set the servo motor to ON/OFF state (servo on/servo off)

Figure 3.4.2.4

Press the SVON key (as shown in figure 3.4.2.4) to execute the following program:

RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID, gSlotID, ON_OFF);

// ON_OFF:

// 0: Servo OFF.

// 1: Servo ON.

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(5) Speed control

Press the ← or → key (as shown in figure 3.4.2.4) to execute the following program:

RetCode = _ECAT_Slave_PV_Start_Move(gESCCardNo, gNodeID, gSlotID, Velocity,

Tacc, Tdec);

/* Set the parameters of speed mode (the acceleration and deceleration time) and enable

speed control. */

// The servo motor will run in forward direction if the rpm value is greater than 0, and will

run in reverse direction when the rpm value is smaller than 0.

Press the STOP key (as shown in figure 3.4.2.4) to execute the following program:

RetCode = _ECAT_Slave_Motion_Emg_Stop(gESCCardNo, gNodeID, gSlotID);

(6) Status display

Figure 3.4.2.5

Command values of the motion:

RetCode = _ECAT_Slave_Motion_Get_Command(gESCCardNo, gNodeID, gSlotID,

&Cmd);

// Get the command value (CMD. field).

RetCode = _ECAT_Slave_Motion_Get_Position(gESCCardNo, gNodeID, gSlotID, &Pos);

// Get the feedback value of the command (FBK. field).

Motion status:

RetCode = _ECAT_Slave_Motion_Get_Current_Speed(gESCCardNo,gNodeID, gSlotID,

&Spd);

// Get the current moving speed (SPD. field).

RetCode = _ECAT_Slave_Motion_Get_StatusWord(gESCCardNo, gNodeID, gSlotID,

&Status);

// Get the current status (IO Sts. field).

RetCode = _ECAT_Slave_Motion_Get_Mdone(gESCCardNo, gNodeID, gSlotID,

&MCDone);

// Get the current status of the motor. (Motion field)

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(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.

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3.5 Motion control in PP mode

3.5.1 Function list

Function name

_ECAT_Slave_PP_Start_Move

_ECAT_Slave_Motion_Sd_Stop

 Properties

Hardware EtherCAT RTX (PAC) EtherCAT motion card

Supported

Y Y

3.5.2 Application examples

Program interface

Figure 3.5.2.1

(1) Activate and initialize interface card

Press the Initial Card key (as shown in figure 3.5.2.1) to start initializing the interface card.

Press the Find Slave key (as shown in figure 3.5.2.1) to start searching the connecting

modules.

For more information about the interface card initialization, please see “Activate interface

card” and “Initialize interface card” in section 3.1.2.

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(2) Set Node ID and Slot ID for the servo drive and enable motion status display

Figure 3.5.2.2

Select Node ID and Slot ID and check the Timer box to display the motion status.

Set NodeID: Specify the node ID to be executed. The parameters “AxisNo.” and “SlotNo”

in the API function.

Timer: Check the Timer box to display the current motion status.

(3) Enter the parameter for motion control

Figure 3.5.2.3

Dist.: Input the moving distance. The parameter “Dist” in the API function.

StrVel.: Input the initial speed. The parameter “StrVel” in the API function.

*The servo drive accelerates to the initial speed set in StrVel at its max. speed. Then, it

accelerates to the constant speed set in MaxVel with the acceleration time set in Acc.

MaxVel.: Input the constant speed. The parameter “MaxVel” in the API function.

Acc.: Input the duration from initial speed to constant speed. The parameter “Tacc” in the

API function.

Dec.: Input the duration to decelerate from the constant speed to 0. The parameter “Tdec”

in the API function.

ABS.: Check this box to have the motion conducted according to the absolute coordinates

set in Dist.

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(4) Set the servo motor to ON/OFF state (servo on/servo off)

Figure 3.5.2.4

Press the SVON key (as shown in figure 3.5.2.4) to execute the following program:

RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID, gSlotID, ON_OFF);

// ON_OFF:

// 0: Servo OFF

// 1: Servo ON

(5) Start to control the motion speed

Press the ← or → key (as shown in figure 3.5.2.4) to execute the following program:

RetCode = _ECAT_Slave_PP_Start_Move(gESCCardNo, gNodeID, gSlotID, Dist, StrVel,

MaxVel, Tacc, Tdec, gbIsABS);

// gblsABS

// 0: relative movement

// 1: absolute movement

(6) Stop the motion

Press the STOP key (as shown in figure 3.5.2.4) to enable emergency stop:

RetCode = _ECAT_Slave_Motion_Emg_Stop(gESCCardNo, gNodeID, gSlotID);

In this example, the movement is stopped urgently by setting the deceleration time to 0.

(7) Status display

Figure 3.5.2.5

Command values of the motion:

RetCode = _ECAT_Slave_Motion_Get_Command(gESCCardNo, gNodeID, gSlotID,

&Cmd);

// Get the command value (CMD. field).

RetCode = _ECAT_Slave_Motion_Get_Position(gESCCardNo, gNodeID, gSlotID, &Pos);

// Get the feedback value of the command (FBK. field).

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Motion status:

RetCode = _ECAT_Slave_Motion_Get_StatusWord(gESCCardNo, gNodeID, gSlotID,

&Status);

// Get the current status (IO Sts. field).

RetCode = _ECAT_Slave_Motion_Get_Mdone(gESCCardNo, gNodeID, gSlotID,

&MCDone);

// Get the current status of the motor (Motion field).

(8) Reset the feedback value and clear the alarm

Press the RESET key (as shown in figure 3.5.2.4) 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 3.5.2.4) to execute the alarm clearing command:

RetCode = _ECAT_Slave_Motion_Ralm(gESCCardNo, gNodeID, gSlotID);

// Clear the alarm of slave station

(9) 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.

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3.6 Motion control in CSP mode

3.6.1 Function list

Function name

_ECAT_Slave_Motion_Set_Svon

_ECAT_Slave_CSP_Start_Move

_ECAT_Slave_CSP_Start_V_Move

_ECAT_Slave_CSP_Start_Multiaxes_Move

_ECAT_Slave_CSP_Start_Arc_Move

_ECAT_Slave_CSP_Start_Arc2_Move

_ECAT_Slave_CSP_Start_Arc3_Move

_ECAT_Slave_CSP_Start_Spiral_Move

_ECAT_Slave_CSP_Start_Spiral2_Move

_ECAT_Slave_CSP_Start_Heli_Move

_ECAT_Slave_CSP_Start_Sphere_Move

_ECAT_Slave_Motion_Sd_Stop

_ECAT_Slave_Motion_Set_Position

_ECAT_Slave_Motion_Set_Command

_ECAT_Slave_Motion_Ralm

_ECAT_Slave_Motion_Get_Command

_ECAT_Slave_Motion_Get_Position

_ECAT_Slave_Motion_Get_Current_Speed

_ECAT_Slave_Motion_Get_StatusWord

_ECAT_Slave_Motion_Get_Mdone

_ECAT_Master_Check_Initial_Done

 Properties

Hardware EtherCAT RTX (PAC) EtherCAT motion card

Supported

Y Y

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3.6.2 Application examples

Program interface

Figure 3.6.2.1

(1) Activate and initialize interface card

Press the Initial Card key (as shown in figure 3.6.2.1) to start initializing the interface card.

Press the Find Slave key (as shown in figure 3.6.2.1) to start searching the connecting

modules.

For more information about the interface card initialization, please see “Activate interface

card” and “Initialize interface card” in section 3.1.2.

(2) Select Node ID and Slot ID for the servo drive and enable motion status display

Figure 3.6.2.2

Select Node ID and Slot ID and check the Timer box to display the motion status.

Set NodeID: Specify the Node ID to be executed. The parameters “AxisNo.” and “SlotNo”

in the API function.

Timer: Check the Timer box to display the current motion status.

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(3) Select the moving mode

Figure 3.6.2.2

Single-axis motion control:

P To P: Point to point movement

Continue: Linear movement

Two-axis motion control:

Line2: Linear interpolation control

Arc: Type 1 arc interpolation control (with the known circle center and angle)

Arc2: Type 2 arc interpolation control (with the known end point and angle)

Arc3: Type 3 arc interpolation control (with the known circle center and end point)

Spiral: Type 1 spiral interpolation control (with the known circle center and angle)

Spiral2: Type 2 spiral interpolation control (with the known end point and circle

number)

Three-axis motion control:

Helix: Helical interpolation control

Line3: Linear interpolation control

Sphere: Three-axis sphere motion control

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(4) The parameter of single-axis motion control

Figure 3.6.2.3

Dist.: Input the moving distance. The parameter “Dist” in the API function.

StrVel.: Input the initial speed. The parameter “StrVel” in the API function.

ConstVel: Input the constant speed. The parameter “ConstVel” in the API function.

EndVel: Input the end speed when it reaches the target position. The parameter “EndVel”

in the API function.

TPhase1: Input the duration from initial speed to constant speed. The parameter

“TPhase1” in the API function.

TPhase2: Input the duration from constant speed to end speed. The parameter “TPhase2”

in the API function.

S-Curve: Check this box to use S-Curve for the speed curve. Otherwise, it will use

T-Curve.

ABS.: Check this box to have the motion conducted according to absolute coordinates set

in Dist.

(5) Set the servo motor to ON/OFF state (servo on/servo off)

Figure 3.6.2.4

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Press the SVON key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID[i], gSlotID[i],

ON_OFF);

// ON_OFF:

// 0: Servo OFF

//1: Servo ON

(6) Select P To P and start the point to point motion control

Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_CSP_Start_Move(gESCCardNo, gNodeID[0], gSlotID[0],

Dist[0], StrVel, ConstVel, EndVel, Tacc, Tdec, gbIsSCurve, gbIsABS);

// gblsSCurve

// 1: T-Curve

// 2: S-Curve

// gblsABS

// 0: Relative movement

// 1: Absolute movement

(7) Change the position or speed in P To P mode

Figure 3.6.2.5

Press the ← or → key (as shown in figure 3.6.2.4) to select P To P motion control. To

replace the current position with a new position, press the Change key in Position Change

section (as shown in figure 3.6.2.5) to execute the following program:

RetCode = _ECAT_Slave_CSP_TargetPos_Change(gESCCardNo, gNodeID[0],

gSlotID[0], NewPos);

// Replace the current position with a new position.

To replace the current speed with a new speed, press the Change key in Velocity Change

section (as shown in figure 3.6.2.5) to execute the following program:

RetCode = _ECAT_Slave_CSP_Velocity_Change(gESCCardNo, gNodeID[0], gSlotID[0],

NewSpd, NewTdec);

// Replace the current speed with a new speed.

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(8) Set the Gear or software limit in P To P mode

Figure 3.6.2.6

Press the ← or → key (as shown in figure 3.6.2.4) to select P To P motion control. To set

the Gear values, press the Set key in the Set Gear section (as shown in figure 3.6.2.6) to

execute the following program:

RetCode = _ECAT_Slave_CSP_Set_Gear(gESCCardNo, gNodeID[0], gSlotID[0],

Numerator, Denominator, Enable);

// Set new gear values.

To set the software limit, press the Set key in the Set Soft Limit section (as shown in figure

3.6.2.6) to execute the following program:

RetCode = _ECAT_Slave_CSP_Set_Softlimit(gESCCardNo, gNodeID[0], gSlotID[0],

MLimit, PLimit, Enable);

// Set software limit values.

(9) Set the value for Feedrate Overwrite in P To P mode.

Figure 3.6.2.7

Press the ← or → key (as shown in figure 3.6.2.4) to execute P To P motion control.

To set the value of Feedrate Overwrite, drag the scrollbar (as shown in figure 3.6.2.7)

to execute the following program:

RetCode = _ECAT_Slave_CSP_Feedrate_Overwrite(gESCCardNo, gNodeID[0],

gSlotID[0], 2, NewSpd, 0.1);

// Mode=2; Users can change the speed and the speed (vector) of all motion commands

whether the command is being executed.

// Speed ratio

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(10) Select Continue for motion control with constant speed

Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_CSP_Start_V_Move(gESCCardNo, gNodeID[0], gSlotID[0], 0,

StrVel, MaxVel, Tacc, gbIsSCurve);

// gblsSCurve

// 1: T-Curve

// 2: S-Curve

(11) Two-axis motion mode (Line2, Spiral, Spiral2) and its settings

Figure 3.6.2.8

Line2 parameter settings: Two-axis linear interpolation

Dist1: Input the moving distance of axis X. The parameter “DistX” in the API function.

Dist2: Input the moving distance of axis Y. The parameter “DistY” in the API function.

StrVel.: Input the initial speed. The parameter “StrVel” in the API function.

ConstVel: Input the constant speed. The parameter “ConstVel” in the API function.

EndVel: Input the end speed when it reaches the target position. The parameter “EndVel”

in the API function.

TPhase1: Input the duration from initial speed to constant speed. The parameter

“TPhase1” in the API function.

TPhase2: Input the duration from constant speed to end speed. The parameter “TPhase2”

in the API function.

S-Curve: Check this box to use S-Curve for the speed curve. Otherwise, it will use

T-Curve.

ABS.: Check this box to have the motion conducted according to absolute coordinates set

in Dist.

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Spiral parameter settings: Type 1 of spiral interpolation (with the known circle center and

angle)

CenX: Input the X-coordinate of the circle center. The parameter “CenterPoint” in the API

function.

CenY: Input the Y-coordinate of the circle center. The parameter “CenterPoint” in the API

function.

Inter: Input the relative distance between the known spiral pitches. The parameter

“Spiral_Interval” in the API function.

Angle: Input the angle of the spiral movement. The parameter “Angle” in the API function.

StrVel.: Input the initial speed. The parameter “StrVel” in the API function.

ConstVel: Input the constant speed. The parameter “ConstVel” in the API function.

EndVel: Input the end speed when it reaches the target position. The parameter “EndVel”

in the API function.

TPhase1: Input the duration from initial speed to constant speed. The parameter

“TPhase1” in the API function.

TPhase2: Input the duration from constant speed to end speed. The parameter “TPhase2”

in the API function.

S-Curve: Check this box to use S-curve for the speed curve. Otherwise, it will use

T-Curve.

ABS.: Check this box to have the motion conducted according to absolute coordinates set

in Dist.

Spiral2 parameter settings: Type 2 of spiral interpolation (with the know end point and

circle number)

CenX: Input the X-coordinate of the circle center. The parameter “CenterPoint” in the API

function.

CenY: Input the Y-coordinate of the circle center. The parameter “CenterPoint” in the API

function.

EndX: Input the target position of X-coordinate. The parameter “EndPoint” in the API

function.

EndY: Input the target position of Y-coordinate. The parameter “EndPoint” in the API

function.

Num: Input the circle number of the spiral movement. The parameter “CycleNum” in the

API function.

Dir: Input the moving direction (0: Clockwise, 1: Anticlockwise). The parameter “Dir” in the

API function.

StrVel.: Input the initial speed. The parameter “StrVel” in the API function.

ConstVel: Input the constant speed. The parameter “ConstVel” in the API function.

EndVel: Input the end speed when it reaches the target position. The parameter “EndVel”

in the API function.

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TPhase1: Input the duration from initial speed to constant speed. The parameter

“TPhase1” in the API function.

TPhase2: Input the duration from constant speed to end speed. The parameter “TPhase2”

in the API function.

S-Curve: Check this box to use S-curve for the speed curve. Otherwise, it will use

T-Curve.

ABS.: Check this box to have the motion conducted according to absolute coordinates set

in Dist.

(12) Set the servo motor to ON/OFF state (servo on/servo off)

Press the SVON key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID[i], gSlotID[i],

ON_OFF);

// ON_OFF:

// 0: Servo OFF

// 1: Servo ON

(13) Select Line2 for two-axis linear motion control

Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_CSP_Start_Multiaxes_Move(gESCCardNo, 2, gNodeID,

gSlotID, Dist, StrVel, MaxVel, EndVel, Tacc, Tdec, gbIsSCurve, gbIsABS);

// gblsSCurve

// 1: T-Curve

// 2: S-Curve

// gblsABS

// 0: Relative movement

// 1: Absolute movement

(14) Select Spiral for two-axis arc motion control (center point and angle)

Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_CSP_Start_Spiral_Move(gESCCardNo,gNodeID, gSlotID,

CenPoint, Spiral_Interval, Angle, StrVel, MaxVel, EndVel, Tacc, Tdec, gbIsSCurve,

gbIsABS);

// gblsSCurve

// 1: T-Curve

// 2: S-Curve

// gblsABS

// 0: Relative movement

// 1: Absolute movement

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(15) Select Spiral2 for two-axis arc motion control (end point and circles).

Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_CSP_Start_Spiral2_Move(gESCCardNo, gNodeID, gSlotID,

CenPoint, EndPoint, CycleNum, Dir, StrVel, MaxVel, EndVel, Tacc, Tdec, gbIsSCurve,

gbIsABS);

// gblsSCurve

// 1: T-Curve

// 2: S-Curve

// gblsABS

// 0: Relative movement

// 1: Absolute movement

(16) Two-axis motion mode (Arc, Arc2, Arc3) and the settings

Figure 3.6.2.9

Arc parameter settings: Type 1 of arc interpolation (with the known arc’s circle center and

angle)

CenX: Input the X-coordinate of the circle center. The parameter “CenterPoint” in the API

function.

CenY: Input the Y-coordinate of the circle center. The parameter “CenterPoint” in the API

function.

Angle: Set the arc angle. The parameter “Angle” in the API function.

StrVel.: Input the initial speed. The parameter “StrVel” in the API function.

ConstVel: Input the constant speed. The parameter “ConstVel” in the API function.

EndVel: Input the end speed when it reaches the target position. The parameter “EndVel”

in the API function.

TPhase1: Input the duration from initial speed to constant speed. The parameter

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“TPhase1” in the API function.

TPhase2: Input the duration from constant speed to end speed. The parameter “TPhase2”

in the API function.

S-Curve: Check this box to use S-curve for the speed curve. Otherwise, it will use

T-Curve.

ABS.: Check this box to have the motion conducted according to absolute coordinates set

in Dist.

Arc2 parameter settings: Type 2 of arc interpolation (with the known arc’s end point and

angle)

EndX: Input the target position of X-coordinate. The parameter “EndPoint” in the API

function.

EndY: Input the target position of Y-coordinate. The parameter “EndPoint” in the API

function.

Angle: Set the arc angle. The parameter “Angle” in the API function.

StrVel.: Input the initial speed. The parameter “StrVel” in the API function.

ConstVel: Input the constant speed. The parameter “ConstVel” in the API function.

EndVel: Input the end speed when it reaches the target position. The parameter “EndVel”

in the API function.

TPhase1: Input the duration from initial speed to constant speed. The parameter

“TPhase1” in the API function.

TPhase2: Input the duration from constant speed to end speed. The parameter “TPhase2”

in the API function.

S-Curve: Check this box to use S-curve for the speed curve. Otherwise, it will use

T-Curve.

ABS.: Check this box to have the motion conducted according to absolute coordinates set

in Dist.

Arc3 parameter settings: Type 3 of arc interpolation (with the known arc’s circle center

and end point)

CenX: Input the X-coordinate of the circle center. The parameter “CenterPoint” in the API

function.

CenY: Input the Y-coordinate of the circle center. The parameter “CenterPoint” in the API

function.

EndX: Input the target position of X-coordinate. The parameter “EndPoint” in the API

function.

EndY: Input the target position of Y-coordinate. The parameter “EndPoint” in the API

function.

Dir: Input the moving direction (0: Clockwise, 1: Anticlockwise). The parameter “Dir” in the

API function.

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StrVel.: Input the initial speed. The parameter “StrVel” in the API function.

ConstVel: Input the constant speed. The parameter “ConstVel” in the API function.

EndVel: Input the end speed when it reaches the target position. The parameter “EndVel”

in the API function.

TPhase1: Input the duration from initial speed to constant speed. The parameter

“TPhase1” in the API function.

TPhase2: Input the duration from constant speed to end speed. The parameter “TPhase2”

in the API function.

S-Curve: Check this box to use S-curve for the speed curve. Otherwise, it will use

T-Curve.

ABS.: Check this box to have the motion conducted according to absolute coordinates set

in Dist.

(17) Set the servo motor to ON/OFF state (servo on/servo off)

Press the SVON key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID[i], gSlotID[i],

ON_OFF);

// ON_OFF

// 0: Servo OFF

// 1: Servo ON

(18) Select Arc for two-axis arc motion (circle center and angle)

Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_CSP_Start_Arc_Move(gESCCardNo, gNodeID, gSlotID,

CenPoint, Angle, StrVel, ConstVel, EndVel, Tacc, Tdec, gbIsSCurve, gbIsABS);

// gblsSCurve

// 1: T-Curve

// 2: S-Curve

// gblsABS

// 0: Relative movement

// 1: Absolute movement

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(19) Select Spiral for two-axis arc motion (end point and angle)

Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_CSP_Start_Arc2_Move(gESCCardNo, gNodeID,

gSlotID, EndPoint, Angle, StrVel, MaxVel, EndVel, Tacc, Tdec, gbIsSCurve,

gbIsABS);

// gblsSCurve

// 1: T-Curve

// 2: S-Curve

// gblsABS

// 0: Relative movement

// 1: Absolute movement

(20) Select Spiral2 for two-axis arc motion (circle center and end point)

Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_CSP_Start_Arc3_Move(gESCCardNo, gNodeID, gSlotID,

CenPoint,EndPoint,Dir,StrVel, ConstVel,EndVel,Tacc,Tdec,gbIsSCurve, gbIsABS);

// gblsSCurve

// 1: T-Curve

// 2: S-Curve

// gblsABS

// 0: Relative movement

// 1: Absolute movement

(21) Three-axis motion mode (Heli, Line3, Sphere) and the settings

Figure 3.6.2.10

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Heli parameter settings: Three-axis helical interpolation.

CenX: Input the X-coordinate of the circle center. The parameter “CenterPoint” in the API

function.

CenY: Input the Y-coordinate of the circle center. The parameter “CenterPoint” in the API

function.

Depth: Input the depth of the specified axis (the overall height of Z-axis). The parameter

“Depth” in the API function.

Pitch: Specify the pitch of the helix. The parameter “Pitch” in the API function.

Dir: Input the moving direction (0: Clockwise, 1: Anticlockwise). The parameter “Dir” in the

API function.

StrVel.: Input the initial speed. The parameter “StrVel” in the API function.

ConstVel: Input the constant speed. The parameter “ConstVel” in the API function.

EndVel: Input the end speed when it reaches the target position.The parameter “EndVel” in

the API function.

TPhase1: Input the duration from initial speed to constant speed. The parameter “TPhase1”

in the API function.

TPhase2: Input the duration from constant speed to end speed. The parameter “TPhase2” in

the API function.

S-Curve: Check this box to use S-curve for the speed curve. Otherwise, it will use T-Curve.

ABS.: Check this box to have the motion conducted according to absolute coordinates set in

Dist.

Line3 parameter settings: Linear interpolation.

Dist1: The moving distance of X-axis. The parameter “DistArray” in the API function.

Dist2: The moving distance of Y-axis. The parameter “DistArray” in the API function.

Dist3: The moving distance of Z-axis. The parameter “DistArray” in the API function.

StrVel.: Input the initial speed. The parameter “StrVel” in the API function.

ConstVel: Input the constant speed. The parameter “ConstVel” in the API function.

EndVel: Input the end speed when it reaches the target position. The parameter “EndVel” in

the API function.

TPhase1: Input the duration from initial speed to constant speed. The parameter “TPhase1”

in the API function.

TPhase2: Input the duration from constant speed to end speed. The parameter “TPhase2” in

the API function.

S-Curve: Check this box to use S-curve for the speed curve. Otherwise, it will use T-Curve.

ABS.: Check this box to have the motion conducted according to absolute coordinates in

Dist.

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Sphere parameter settings: Three-axis sphere motion (with given three points).

PosX1: The point to be passed through on X-axis (between starting and end point). The

parameter “Target1Point” in the API function.

PosY1: The point to be passed through on Y-axis (between starting and end point). The

parameter “Target1Point” in the API function.

PosZ1: The point to be passed through on Z-axis (between starting and end point). The

parameter “Target1Point” in the API function.

PosX2: The target coordinate of X-axis. The parameter “Target2Point” in the API function.

PosY2: The target coordinate of Y-axis. The parameter “Target2Point” in the API function.

PosZ2: The target coordinate of Z-axis. The parameter “Target2Point” in the API function.

StrVel.: Input the initial speed. The parameter “StrVel” in the API function.

ConstVel: Input the constant speed. The parameter “ConstVel” in the API function.

EndVel: Input the end speed when it reaches the target position. The parameter “EndVel” in

the API function.

TPhase1: Input the duration from initial speed to constant speed. The parameter “TPhase1”

in the API function.

TPhase2: Input the duration from constant speed to end speed. The parameter “TPhase2” in

the API function.

S-Curve: Check this box to use S-curve for the speed curve. Otherwise, it will use T-Curve.

ABS.: Check this box to have the motion conducted according to absolute coordinates in

Dist.

(22) Set the servo motor to ON/OFF state (servo on/servo off)

Press the SVON key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID[i], gSlotID[i],

ON_OFF);

// ON_OFF

// 0: Servo OFF

// 1: Servo ON

(23) Select Heli for three-axis helical motion

Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_CSP_Start_Heli_Move(gESCCardNo, gNodeID, gSlotID,

CenPoint,Depth,Pitch,Dir,StrVel,ConstVel,EndVel,Tacc,Tdec,gbIsSCurve,gbIsABS);

// gblsSCurve

// 1: T-Curve

// 2: S-Curve

// gblsABS

// 0: Relative movement

// 1: Absolute movement

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See the figure below:

Figure 3.6.2.11

(24) Select Line3 for three-axis linear motion

Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_CSP_Start_Multiaxes_Move(gESCCardNo, 3, gNodeID,

gSlotID, Dist, StrVel, MaxVel, EndVel, Tacc, Tdec, gbIsSCurve, gbIsABS);

// gblsSCurve

// 1: T-Curve

// 2: S-Curve

// gblsABS

// 0: Relative movement

// 1: Absolute movement.

(25) Select Sphere for three-axis sphere motion

Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_CSP_Start_Sphere_Move(gESCCardNo, gNodeID, gSlotID,

Dist, Dist2, StrVel, ConstVel, EndVel, Tacc, Tdec, gbIsSCurve, gbIsABS);

// gblsSCurve

// 1: T-Curve

// 2: S-Curve

// gblsABS

// 0: Relative movement

// 1: Absolute movement.

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(26) Status display

Figure 3.6.2.12

Command values of the motion:

RetCode = _ECAT_Slave_Motion_Get_Command(gESCCardNo, gNodeID, gSlotID,

&Cmd);

// Get the command value (CMD. field).

RetCode = _ECAT_Slave_Motion_Get_Position(gESCCardNo, gNodeID, gSlotID, &Pos);

// Get the feedback value of the command (FBK. field).

Motion status:

RetCode = _ECAT_Slave_Motion_Get_Current_Speed(gESCCardNo,gNodeID, gSlotID,

&Spd);

// Get the moving speed (SPD. field).

RetCode = _ECAT_Slave_Motion_Get_StatusWord(gESCCardNo, gNodeID, gSlotID,

&Status);

// Get the current status (IO Sts. field).

RetCode = _ECAT_Slave_Motion_Get_Mdone(gESCCardNo, gNodeID, gSlotID,

&MCDone);

// Get the current status of the motor (Motion field).

RetCode = _ECAT_Slave_Motion_Get_Buffer_Length(gESCCardNo, gNodeID, gSlotID,

&BufLen);

// Get the current buffer status (Buffer field).

(27) Reset the feedback position and clear the alarm

Press the RESET key (as shown in figure 3.6.2.4) to execute the following program:

RetCode = _ECAT_Slave_Motion_Set_Position(gESCCardNo, gNodeID, gSlotID, 0);

// Clear feedback first (Value 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 3.6.2.4) to execute the alarm clearing command:

RetCode = _ECAT_Slave_Motion_Ralm(gESCCardNo, gNodeID, gSlotID);

// Clear the alarm of slave station.

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(28) Stop the motion

Press the STOP key (see figure 3.6.2.4) to decelerate to stop:

RetCode = _ECAT_Slave_Motion_Sd_Stop(gESCCardNo, gNodeID[0], gSlotID[0], Tdec);

In this example, the motion decelerates to stop, which is to stop the motion gradually

according to the set deceleration time.

(29) 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.

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3.7 Digital input module

3.7.1 Function list

Function name

_ECAT_Slave_DIO_Get_Input_Value

 Properties

Hardware EtherCAT RTX (PAC) EtherCAT motion card

Supported

Y Y

3.7.2 Application examples

Program interface

Figure 3.7.2.1

(1) Activate and initialize interface card

Press the Initial Card key (as shown in figure 3.7.2.1) to start initializing the interface card.

Press the Find Slave key (see figure 3.7.2.1) to start searching the connecting modules.

For more information about the interface card initialization, please see “Activate interface

card” and “Initialize interface card” in section 3.1.2.

(2) Set Node ID and Slot ID for the module and enable contact status display

Figure 3.7.2.2

Select Node ID and Slot ID and check the Timer box to display the contact status.

Set NodeID: Specify the Node ID to be executed.The parameter “NodeID” and “SlotID” in

the API function.

Timer: Check the Timer box to display the current contact status.

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(3) Digital input (Slave DI)

To obtain the data sent from the digital input module, users have to use R1-EC-60X2

module and execute the program below:

RetCode = _ECAT_Slave_DIO_Get_Input_Value(gESCCardNo, gNodeID, gSlotID,

&gValue);

As shown in figure 3.7.2.3, no signal input is displayed in R1-EC-60X2 module.

Figure 3.7.2.3

(4) 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.

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3.8 Digital output module

3.8.1 Function list

Function name

_ECAT_Slave_DIO_Set_Output_Value

_ECAT_Slave_DIO_Get_Output_Value

 Properties

Hardware EtherCAT RTX (PAC) EtherCAT motion card

Supported

Y Y

3.8.2 Application examples

Program interface

Figure 3.8.3.1

(1) Activate and initialize interface card

Press the Initial Card key (as shown in figure 3.8.3.1) to start initializing the interface card.

Press the Find Slave key (see figure 3.8.3.1) to start searching the connecting modules.

For more information about the interface card initialization, please see “Activate interface

card” and “Initialize interface card” in section 3.1.2.

(2) Set Node ID and Slot ID for the module and enble contact status display

Figure 3.8.3.2

Select Node ID and Slot ID and check the Timer box to display the contact status.

Set NodeID: Specify the Node ID to be executed. The parameters “NodeID” and SlotID” in

the API function.

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(3) Digital output

To output data via the digital output module, users have to use R1-EC-70X2 module and

execute the program below:

RetCode = ECAT_Slave_DIO_Set_Output_Value(gESCCardNo,gNodeID,gSlotID,

gValue);

The status of the digital output module can be obtained through the following program:

RetCode = _ECAT_Slave_DIO_Get_Output_Value(gESCCardNo,gNodeID,gSlotID,

&gValue);

As shown in the below figure, DO0 ~ DO15 are the output signals of Y00 ~ Y15 of

R1-EC-70X2 module Port 0.

Figure 3.8.3.3

(4) 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.

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3.9 Analog input module

3.9.1 Function list

Function name

_ECAT_Slave_AIO_Set_Input_RangeMode

_ECAT_Slave_R1_EC8124_Set_Input_AverageMode

_ECAT_Slave_AIO_Set_Input_ConvstFreq_Mode

_ECAT_Slave_AIO_Get_Input_Value

 Properties

Hardware EtherCAT RTX (PAC) EtherCAT motion card

Supported

Y Y

3.9.2 Application examples

Program interface

Figure 3.9.2.1

(1) Activate and initialize interface card

Press the Initial Card key (as shown in figure 3.9.2.1) to start initializing the interface card.

Press the Find Slave key (see figure 3.9.2.1) to start searching the connecting modules.

For more information about the interface card initialization, please see “Activate interface

card” and “Initialize interface card” in section 3.1.2.

(2) Set Node ID for the module and enable contact status display

Figure 3.9.2.2

Select Node ID and check the Timer box to display the contact status.

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Set NodeID: Specify the Node ID to be executed. The parameters “AxisNo” and “SlotNo”

in the API function.

Timer: Check the Timer box to display the current contact status.

(3) Select AD Channel, AD Mode, Avg Range, and Conversion Time.

Figure 3.9.2.3

AD Channel: Select the AD channel (CH 0 ~ 3). The parameter “SlotNo” in the API

function.

AD Mode: Select the AD range. The parameter “RangeMode” in the API function.

Avg Range: Select the sample rate for the wave display. The parameter “AvgMode” in the

API function.

Conversion Time: Select the conversion time. The parameter “Mode” in the API function.

(4) When selecting AD Channel and AD Mode (as shown in figure 3.9.2.3), the following

program is executed:

RetCode = _ECAT_Slave_AIO_Set_Input_RangeMode(gESCCardNo,gNodeID, gSlotID,

Mode);

// SlotID is the channel of analog input

When selecting Avg Range (as shown in figure 3.9.2.3), the following program is

executed:

RetCode = _ECAT_Slave_R1_EC8124_Set_Input_AverageMode(gESCCardNo,

gNodeID, gSlotID, AvgMode);

When selecting Conversion Time (as shown in figure 3.9.2.3), the following program is

executed:

RetCode = _ECAT_Slave_AIO_Set_Input_ConvstFreq_Mode(gESCCardNo, gNodeID,

gSlotID, Mode);

To d is p l a y Data field (as shown in figure 3.9.2.3), execute the following program:

RetCode = _ECAT_Slave_AIO_Get_Input_Value(gESCCardNo,gNodeID,gSlotID,

&Value);

(5) 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.

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3.10 Analog output module

3.10.1 Function list

Function name

_ECAT_Slave_AIO_Set_Output_RangeMode

_ECAT_Slave_AIO_Set_Output_OverRange_Enable

_ECAT_Slave_R1_EC9144_Get_Output_ReturnCode

_ECAT_Slave_AIO_Set_Output_Value

_ECAT_Slave_AIO_Get_Output_Value

 Properties

Hardware EtherCAT RTX (PAC) EtherCAT motion card

Supported

Y Y

3.10.2 Application examples

Program interface

Figure 3.10.2.1

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(1) Activate and initialize interface card

Press the Initial Card key (as shown in figure 3.10.2.1) to start initializing the interface

card.

Press the Find Slave key (as shown in figure 3.10.2.1) to start searching the connecting

modules.

For more information about the interface card initialization, please see “Activate interface

card” and “Initialize interface card” in section 3.1.2.

(2) Set Node ID for the module and enable contact status display

Figure 3.10.2.2

Select Node ID and check the Timer box to display the contact status.

Set NodeID: Specify the Node ID to be executed. The parameters “AxisNo” and “SlotNo”

in the API function.

Timer: Check the Timer box to display the current contact status.

(3) Select DA Channel and DA mode:

Figure 3.10.2.3

DA Channel: Select the No. of DA Channel (0 ~ 3). The parameter “SlotNo” in the API

function.

DA Mode: Select DA range. The parameter “Mode” in the API function.

Value: Displays the command value of the analog output set by the scrollbar. The

parameter “Value” in the API function.

OutValue: Displays the actual value of analog output. The parameter “Value” in the API

function.

Apply: Press the Apply key and the set voltage in Value will be converted to the actual

output voltage.

Over Range: When this box is checked, the output voltage value will increase by 10%.

Return Code: Displays the DA status.

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(4) When selecting DA Channel and DA Mode (as shown in figure 3.10.2.3), the following

program is executed:

RetCode = _ECAT_Slave_AIO_Set_Output_RangeMode(gESCCardNo, gNodeID,

gSlotID, Mode);

/* Set DA output range */

When the Apply key (as shown in 3.10.2.3) is pressed, the following program will be

executed:

RetCode = _ECAT_Slave_AIO_Set_Output_Value(gESCCardNo, gNodeID, gSlotID,

Value);

/* Set DA output value */

If the Get button in the Return Code section (as shown in 3.10.2.3) is pressed, the

following program will be executed:

RetCode = _ECAT_Slave_R1_EC9144_Get_Output_ReturnCode(gESCCardNo,

gNodeID, gSlotID, &RtCode);

/* Get DA status. */

To acquire the value of analog output module and display in Out Value field (as shown in

3.10.2.3), execute the program below.

RetCode = _ECAT_Slave_AIO_Set_Output_Value(gESCCardNo, gNodeID, gSlotID,

Value);

/* Acquire the value of the analog output module. */

(5) 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.

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3.11 EtherCAT motion card – high-speed pulse compare
function

3.11.1 Function list

Function name

_ECAT_Compare_Set_Channel_Position

_ECAT_Compare_Get_Channel_Position

_ECAT_Compare_Set_Ipulser_Mode

_ECAT_Compare_Set_Channel_Direction

_ECAT_Compare_Set_Channel_Trigger_Time

_ECAT_Compare_Set_Channel_One_Shot

_ECAT_Compare_Set_Channel_Source

_ECAT_Compare_Set_Channel_Enable

_ECAT_Compare_Channel0_Position

_ECAT_Compare_Set_Channel0_Trigger_By_GPIO

_ECAT_Compare_Set_Channel1_Output_Enable

_ECAT_Compare_Set_Channel1_Output_Mode

_ECAT_Compare_Get_Channel1_IO_Status

_ECAT_Compare_Set_Channel1_GPIO_Out

_ECAT_Compare_Set_Channel1_Position_Table

_ECAT_Compare_Get_Channel1_Positioin_Table_Level

_ECAT_Compare_Get_Channel1_Position_Table_Count

_ECAT_Compare_Set_Channel_Polarity

_ECAT_Compare_Reuse_Channel1_Postion_Table

_ECAT_Compare_Reuse_Channel1_Position_Table_Level

 Properties

Hardware EtherCAT RTX (PAC) EtherCAT motion card

Supported

N Y

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3.11.2 Application examples

Program interface

Figure 3.11.2.1

(1) Activate and initialize interface card

*Make sure the PCI-L221-B1 interface card has been installed and it has to work with

Delta’s pulse module for pulse comparing in this example.

Press the Initial Card key (as shown in figure 3.11.2.1) to start initializing the interface

card.

Press the Find Slave key (as shown in figure 3.11.2.1) to start searching the connecting

modules.

For more information about the interface card initialization, please see “Activate interface

card” and “Initialize interface card” in section 3.1.2.

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(2) Select the Card No., Node ID, and QEP

Figure 3.11.2.2

Card: Select the EtherCAT PCI motion card No. to be used.

Node: Select the Node ID; in the example, this axis will generate pulse for comparison.

QEP1: Select channel 1 for pulse input. (It should correspond to the physical wiring of QA1

and QB1.)

QEP2: Select channel 2 for pulse input.

(It should correspond to the physical wiring of QA2

and QB2.)

(3) Select Polarity and Compare Type

Figure 3.11.2.3

High: Select this option to carry out the following program: 1: High (high-level trigger)

rt = _ECAT_Compare_Set_Channel_Polarity (gu16_CardNo, 1);

Low: Select this option to carry out the following program: 0: Low (low-level trigger)

rt = _ECAT_Compare_Set_Channel_Polarity (gu16_CardNo, 0);

Type: Select the differential signal channel for the triggered signal.

rt = _ECAT_Compare_Set_Channel_Source (gu16_CardNo, u16_Channel, gu16_Qep);

// u16_Channel:

// 0 = Channel 0 (CMP_1) for outputting the differential signal. (Compare the pulse at a

fixed pulse interval.)

// 1 = Channel 1 (CMP_2) for outputting the differential signal. (Compare the pulse at

user-defined pulse intervals.)

// gu16_Qep

// 0 = When setting QEP1, this parameter is 0, which means the compared pulse is from

the first QA and QB.

// 1 = When setting QEP2, this parameter is 1, which means the compared pulse is from

the second QA and QB.

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TCount: Number of the compared times.

rt = _ECAT_Compare_Get_Channel1_Position_Table_Count (gu16_CardNo,

&u32_Count);

/* Obtain the number of compared times. */

(4) MPC parameter settings

Figure 3.11.2.4

Enable: Enable/disable compare function. The following program is executed:

rt = _ECAT_Compare_Set_Channel_Enable (gu16_CardNo, u16_Channel, 1);

// 1: Enable

// 0: Disable

Inpulse Type: Select between AB Phase or CW_CCW mode. The following program is

executed:

rt = _ECAT_Compare_Set_Ipulser_Mode (gu16_CardNo, mode);

// 0: AB Phase

// 1: CW_CCW

Reset: Press this key to clear the pulse count of QEP1 and QEP2, and the following

program will be executed:

rt = _ECAT_Compare_Set_Channel_Position (gu16_CardNo, u16_Channel, 0);

// 0 represents the pulse number. It means to set the accumulated pulse position to 0.

QEP1 Inverse: Pulse incremental way of QAQB 1. Press this key and the following

program will be executed:

rt = _ECAT_Compare_Set_Channel_Direction (gu16_CardNo, 0, dir);

// 0: Signal source QA1, QB1

// dir:

// 0: Incremented pulse count

// 1: Decremented pulse count

QEP2 Inverse: Pulse incremental way of QAQB 2. Press this key and the following

program will be executed:

rt = _ECAT_Compare_Set_Channel_Direction (gu16_CardNo, 1, dir);

// 1: Signal source QA 2, QB 2

// dir:

// 0 = Incremented pulse count

// 1 = Decremented pulse count

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(5) Settings for pulse comparison

Figure 3.11.2.5

Trigger Time: Set the lasting time for triggering the signal.

Trigger count: Set the number of times for signal to be triggered.

Start Position: Set the starting position for signal to be compared.

Interval: Set the interval for signal to be compared. For example, if the value is set to 10,

signal will be triggered every 10 pulses. And the lasting time is determined by Trigger

Time.

ABS.: Check this box to compare the pulse based on the absolute coordinates.

Level: Check this box and the following program will be executed according to channel 1

(CMP_2), which is used to output differential signal:

rt = _ECAT_Compare_Set_Channel1_Output_Mode (gu16_CardNo, gbLevelValue);

// gbLevelValue: Channel 2 output mode of triggering signal.

// 0: Normal type (Users can define the pulse position).

// 1: User-defined type (Users can define the pulse position and determine the triggering

signal is low or high).

One Shot: Press this key, trigger the signal once and the following program will be

executed:

rt = _ECAT_Compare_Set_Channel_Trigger_Time (gu16_CardNo, u16_Channel,

time_us);

// time_us = The lasting time of this triggered signal; unit: us

rt = _ECAT_Compare_Set_Channel_One_Shot (gu16_CardNo, u16_Channel);

// Actual triggered signal outputted

Set: Select from >>> and <<< (direction) and the following program will be executed:

rt = _ECAT_Compare_Get_Channel_Position (gu16_CardNo, gu16_Qep, &i32_Pos )

// gu16_Qep: Pulse source for comparision

// &i32_Pos: Returns current incremented pulse (current position)

Select Type 0 for applying channel 0 (CMP_1) as the differential signal output channel to

output the triggered signal. (Compare the pulse at a fixed pulse interval)

rt = _ECAT_Compare_Channel0_Position (gu16_CardNo, i32_StartPoint, 0,

u32_CompareCount);

// i32_StartPoint: The starting position for pulse comparison

// u32_CompareCount: Pulse count for comparison

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Select Type 1 for applying channel 1 (CMP_2) as the differential signal output channel to

output the triggered signal. (Compare the pulse at user-defined pulse intervals. In this

example, the result of simulated pulse comparison at a fixed pulse interval is similar to

Type 0. Users can define different intervals according to the demand.)

Disable the differential signal output function of channel 2 first:

rt = _ECAT_Compare_Set_Channel1_Output_Enable (gu16_CardNo, 0);

// 0: Disable

// 1: Enable

If you do not check the Level box, the following program will be executed:

rt = _ECAT_Compare_Set_Channel1_Position_Table (gu16_CardNo,

&pi32_PointTable[0], u32_CompareCount);

// &pi32_PointTable: Data array. It is used for storing the compared pulse.

// u32_CompareCount: Pulse count comparison, which should be identical to the size of

data array.

Pulse comparison:

Figure 3.11.2.6 Compare the pulse at a fixed pulse interval

If you check the Level box, the following program will be executed:

rt = _ECAT_Compare_Set_Channel1_Position_Table_Level (gu16_CardNo,

&pi32_PointTable[0], &pu32_LevelTable[0], u32_CompareCount);

// &pi32_PointTable: Data array. It is used for storing the compared pulse.

// &pu32_LevelTable: Data array. It is used for storing the triggered level.

// u32_CompareCount: Cout of pulse comparison, which should be identical to the size of

data array.

Pulse comparison:

Figure 3.11.2.7 Compare the pulse at user-defined pulse intervals

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Enable the differential signal output function of channel 2:

rt = _ECAT_Compare_Set_Channel1_Output_Enable (gu16_CardNo, 1);

// 0: Disable

// 1: Enable

(6) Command display and testing operations:

Figure 3.11.2.8

Reset: Press this key to reset the command.

P2PMove: Press this key to move forward or backward. And the generated pulse will be

compared by the motion card.

STOP: Press this key to stop the motion.

Command: Display the motion’s current position.

(7) 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.

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March, 2017 4-1

API List of Dynamic-Link
Library

This chapter lists all the APIs, data type and setting range of Delta EtherCAT
Dynamic-link library.

4

4.1 Data Type and Setting Range ······························································· 4-2

4.2 API list and descriptions······································································ 4-2

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4.1 Data type and value range

The “TYPE_DEF.H” file located in the “inc\VC\” folder (installation directory) defines the
general data type. See the following table. The data type, name, and rage are defined
as follows.

Data Type Description Range

U8 8-bit ASCII character 0 ~ 255
I16 16-bit signed integer -32768 ~ 32767

U16 16-bit unsigned integer 0 ~ 65535

I32 32-bit signed long integer -2147483648 ~ 2147483647
U32 32-bit unsigned long integer 0 ~ 4294967295
F32 32-bit single-precision floating-point -3.402823E38 ~ 3.402823E38

F64 64-bit double-precision floating point

-1.797683134862315E308 ~

1.797683134862315E309

Boolean Boolean TRUE, FALSE

4.2 API list and descriptions

EtherCAT Master Configuration

_ECAT_Master_Set_CycleTime

Set the cycle time of the EtherCAT master
communication. *Set before initialization.

_ECAT_Master_Get_CycleTime

Acquire the cycle time of the EtherCAT master
communication.

_ECAT_Master_NodeID_Alias_Enable

Determine whether to enable user-defined station.
*Set before initialization.

_ECAT_Master_Get_SerialNo

Get the serial No. of PAC or the motion card.

_ECAT_Master_Get_DLL_SeqID

Acquire the sequence ID of the current DLL.

_ECAT_Autoconfig_Open_File

Read and apply the configuration file of the
communication topology and DC data for system

initialization. *Set before initialization.

_ECAT_Autoconfig_Save_File

Save the current communication topology and DC
data to the configuration file.

_ECAT_Autoconfig_Set_Slave_DCTime

Set the DC time of each node.

_EACT_Autoconfig_Clear_ConfigFile

Clear the currently imported EtherCAT master
configuration.

_ECAT_Autoconfig_Set_NodeID_Alias

Set user-defined station alias of each node. *Set after
initialization.

_ECAT_Autoconfig_Get_NodeID_Alias

Acquire the user-defined station alias of each node.
*Set after initialization.

_ECAT_Autoconfig_Save_NodeID_Alias

Save the user-defined station alias to the module
memory block.

EtherCAT Programming Guide API List of EtherCAT Dynamic-Link Library

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EtherCAT Master Initialization

_ECAT_Master_Open

Check the number of motion cards and EtherCAT
kernels, as well as creating memory block.

_ECAT_Master_Initial

Initialize EtherCAT communication and switch the
slave to OP mode

_ECAT_Master_Reset

Reset the EtherCAT master’s status and switch
the slave to initial mode.

_ECAT_Master_Close

Disable all functions of EtherCAT master and
kernels and release the memory

_ECAT_Master_Get_CardSeq

Acquire motion card No.

_ECAT_Master_Get_SlaveNum

Acquire slave quantity on the communication bus
of the specified EtherCAT master

_ECAT_Master_Get_Slave_Info

Acquire EtherCAT slave information

_ECAT_Master_Get_DC_Status

Acquire the motion card's DC status, time and
time offset

_ECAT_Master_Get_Connect_Status

Acquire EtherCAT master’s connection status

_ECAT_Master_Get_Api_BufferLength

Acquire the command amount of each slave that
has not been completed

_ECAT_Master_Get_Cycle_SpendTime

Acquire the time spent on Tx and Rx every cycle
and the maximum consuming time in the log

_ECAT_Master_Check_Initial_Done

Check whether the DLL initialization has been
completed.

_ECAT_Master_Get_Initial_ErrorCode

Acquire the error code when error occurs

_ECAT_Master_Check_Working_Counter

Acquire the current connection status of EtherCAT
communication

_ECAT_Master_Get_Return_Code_Message

Acquire the corresponding message of each
return code

EtherCAT CoE Standard Communication

_ECAT_Slave_SDO_Send_Message

Issue SDO command (CANopen) to the slave

_ECAT_Slave_SDO_Read_Message

Acquire the current SDO data (CANopen) of the
slave

_ECAT_Slave_SDO_Quick_Send_Message

Issue SDO command (CANopen) to the slave
without waiting for the response

_ECAT_Slave_SDO_Quick_Read_Message

Issue SDO read command (CANopen) to the
slave without waiting for the response

_ECAT_Slave_SDO_Read_Response

Read the returned data from the slave.

_ECAT_Slave_SDO_Wait_All_Done

Wait multiple slaves to complete all the SDO
commands.

_ECAT_Slave_SDO_Get_ErrorCode

Acquire the error code of
ERR_ECAT_SDO_Return that returned during the
execution of SDO Send_Message or
Read_Message. Please refer to CANopen
protocol or the definition of each device for error
code.

_ECAT_Slave_SDO_Check_Done

Check if the specified slave has completed all the
SDO commands

_ECAT_Slave_PDO_Get_OD_Data

Read the data of an OD index in the PDO
mapping

_ECAT_Slave_PDO_Set_OD_Data

Send the data of an OD index in the PDO
mapping

API List of EtherCAT Dynamic-Link Library EtherCAT Programming Guide

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EtherCAT CoE Standard Communication

_ECAT_Slave_PDO_Get_Information

Acquire the basic information of each slave device
PDO.

_ECAT_Slave_PDO_Get_Detail_Mapping

Acquire the details of PDO mapping in the slave
device

_ECAT_Slave_PDO_Get_Rx_Data

Acquire all slave Rx data of the PDO mapping

_ECAT_Slave_PDO_Get_Tx_Data

Acquire all slave Tx data of the PDO mapping

_ECAT_Slave_PDO_Set_Tx_Detail_Data

Configure all slave Tx data of the PDO mapping

General Operation of Motion Axis

_ECAT_Slave_Motion_Set_Svon

Set the servo to On/Off state.

_ECAT_Slave_Motion_Ralm

Reset the alarm of the axis. Before applying this
command, please clear the alarm first. Otherwise,
the alarm might occur again.

_ECAT_Slave_Motion_Sd_Stop

Set the deceleration time for motor to decelerate
to stop

_ECAT_Slave_Motion_Emg_Stop

This is for emergency stop of the axis. The motor
will stop with its maximum deceleration

_ECAT_Slave_Motion_Set_Alm_Reaction

Set the action when alarm occurs

_ECAT_Slave_Motion_Set_Position

Specify current feedback position of the axis

_ECAT_Slave_Motion_Set_Command

Set the motion command data of the axis

_ECAT_Slave_Motion_Set_MoveMode

Set the motion mode of the axis

_ECAT_Slave_Motion_Get_MoveMode

Acquire the information of current motion mode

_ECAT_Slave_Motion_Get_ControlWord

Acquire the current control word of the axis

_ECAT_Slave_Motion_Get_StatusWord

Acquire the current status word of the axis.

_ECAT_Slave_Motion_Get_Mdone

Acquire the current status of motion done

_ECAT_Slave_Motion_Get_Position

Acquire the current position of the axis.

_ECAT_Slave_Motion_Get_Command

Acquire the current command information

_ECAT_Slave_Motion_Get_Target_Command

Acquire the target command data of the axis

_ECAT_Slave_Motion_Get_Actual_Position

Acquire the actual position command of the axis

_ECAT_Slave_Motion_Get_Actual_Command

Acquire the current command data. The data will
vary with to the applied motion mode.

_ECAT_Slave_Motion_Get_Current_Speed

Acquire the current speed of the axis

_ECAT_Slave_Motion_Get_Torque

Acquire the feedback torque from the motor

_ECAT_Slave_Motion_Get_Buffer_Length

Acquiring the quantity of the commands that have
not been carried out

_ECAT_Slave_Motion_Set_TouchProbe_Config

Set the mode of the first Touch Probe function
(Touch Probe 1)

_ECAT_Slave_Motion_Set_TouchProbe_QuickStart

Enable the first Touch Probe function (Touch
Probe 1)

_ECAT_Slave_Motion_Set_TouchProbe_QuickDone

Execute the first Touch Probe function (Touch
Probe 1) again

_ECAT_Slave_Motion_Set_TouchProbe_Disable

Disable the first Touch Probe function (Touch
Probe 1)

_ECAT_Slave_Motion_Get_TouchProbe_Status

Acquire the current status of the first Touch Probe
function (Touch Probe 1)

_ECAT_Slave_Motion_Get_TouchProbe_Position

Acquire the current position of first Touch Probe
function (Touch Probe 1)

EtherCAT Programming Guide API List of EtherCAT Dynamic-Link Library

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Cyclic Synchronous Position Mode (CSP)

_ECAT_Slave_CSP_Start_Move

Execute linear interpolation of single axis

_ECAT_Slave_CSP_Start_V_Move

Execute the single-axis motion with constant
speed

_ECAT_Slave_CSP_Start_Arc_Move

Execute two-axis arc motion, moving from current
position and the specified circle center to form the
specified arc’s angle

_ECAT_Slave_CSP_Start_Arc2_Move

Execute two-axis arc motion, moving from current
position and the specified circle center to form the
specified arc’s angle

_ECAT_Slave_CSP_Start_Arc3_Move

Execute two-axis arc motion, moving from the
current position and specified circle center to the
specified end point

_ECAT_Slave_CSP_Start_Spiral_Move

Execute two-axis spiral motion, moving from
current position and the specified circle center to
form the specified angle

_ECAT_Slave_CSP_Start_Spiral2_Move

Execute two-axis spiral motion, moving from
current position and the specified circle center to
the end point with the specified cycle number.

_ECAT_Slave_CSP_Start_Sphere_Move

Execute three-axis sphere motion and moving
from current position and the known circle center
to the target position with three-dimensional
vector

_ECAT_Slave_CSP_Start_Heli_Move

Set three-axis helical motion, moving from current
position and the known circle center to the
specified height in Z-axis direction

_ECAT_Slave_CSP_Start_Multiaxes_Move

Execute multi-axis linear motion

_ECAT_Slave_CSP_Start_Msbrline_Move

Execute multi-axis point to point motion with
smooth speed

_ECAT_Slave_CSP_Set_Gear

Set the E-gear ratio

_ECAT_Slave_CSP_Set_Softlimit

Set the software limit

_ECAT_Slave_CSP_TargetPos_Change

Set a new target position

_ECAT_Slave_CSP_Velocity_Change

Set a new target speed

_ECAT_Slave_CSP_Feedrate_Overwrite

For the advanced setting of speed change for

single axis
_ECAT_Slave_CSP_Speed_Continue_Enable Enable or disable the continuous speed function
_ECAT_Slave_CSP_Speed_Continue_Set_Mode Set the contin uous speed mode

_ECAT_Slave_CSP_Speed_Continue_Set_Combine
_Ratio

Set the percentage of for starting blending speed

of two commands.
_ECAT_Slave_CSP_Scurve_Rate

Set the ratio of S-curve and T-curve during

acceleration and deceleration
_ECAT_Slave_CSP_Liner_Speed_Master

Set the speed (vector) of advanced interpolation

function

_ECAT_Slave_CSP_Mask_Axis

When multi-axis command is being executed, this

API can be used to stop the specified axes without

influencing others
_ECAT_Slave_CSP_Sync_Config

Set the function of synchronous motion of multiple

axes
_ECAT_Slave_CSP_Sync_Move

Enable the function of synchronous motion of

multiple axes
_ECAT_Slave_CSP_Start_Mabrline_Move

Set to smooth the operation of point-to-point

motion of multiple axes

API List of EtherCAT Dynamic-Link Library EtherCAT Programming Guide

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Cyclic Synchronous Position Mode (CSP)

_ECAT_Slave_CSP_Start_2Segment_Move

Set the single-axis linear motion by specifying two

distances and speed

_ECAT_Slave_CSP_Start_PVT_Move

Set the single-axis motion to move to multiple

points at fixed time

_ECAT_Slave_CSP_Start_PVTComplete_Move

Specify the initial speed and end speed of the

single-axis motion, moving through multiple points

at fixed time.
_ECAT_Slave_CSP_Virtual_Set_Enable Enable function of virtual position

_ECAT_Slave_CSP_Virtual_Set_Command

Set the virtual position and replacing the current

position with the specified position
_ECAT_Slave_CSP_Get_SoftLimit_Status Acquire the status of software limit
_ECAT_Slave_CSP_Pitch_Set_Interval Set the interval of the pitch error compensation
_ECAT_Slave_CSP_Pitch_Set_Mode Set the mode of pitch error compensation
_ECAT_Slave_CSP_Pitch_Set_Org Set the start position of pitch error compensation.

_ECAT_Slave_CSP_Pitch_Set_Rel_Table

Set the relative position of each interval for pitch

error compensation
_ECAT_Slave_CSP_Pitch_Set_Abs_Table

Set the absolute position of each interval for pitch

error compensation
_ECAT_Slave_CSP_Pitch_Set_Enable Enable function of pitch error compensation.

Cyclic Synchronous Velocity Mode (CSV)

_ECAT_Slave_CSV_Start_Move

Execute single-axis motion with the setting speed

_ECAT_Slave_CSV_Multi_Start_Move

Execute multi-axes synchronous motion with the

setting speed

Cyclic Synchronous Torque Mode (CST)

_ECAT_Slave_CST_Start_Move

Execute single-axis motion with the setting torque

_ECAT_Slave_CST_Multi_Start_Move

Execute multi-axis synchronous motion with the

setting torque

Homing

_ECAT_Slave_Home_Config

Set the homing mode
_ECAT_Slave_Home_Move

Execute homing
_ECAT_Slave_Home_Status

Acquire the current homing status

Profile Position Mode (PP)

_ECAT_Slave_PP_Start_Move

Execute single-axis linear motion in PP mode
_ECAT_Slave_PP_Advance_Config

Advanced setting of PP mode

EtherCAT Programming Guide API List of EtherCAT Dynamic-Link Library

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Profile Velocity Mode (PV)

_ECAT_Slave_PV_Start_Move

Execute the single-axis motion with constant speed
in PV mode

_ECAT_Slave_PV_Advance_Config

Advanced setting of PV mode

Invertor Motion Control

_ECAT_Slave_VL_Start_Move

Inverter single-axis motion control with constant
speed. (Delta inverter only)

Profile Torque Mode (PT)

_ECAT_Slave_PT_Start_Move

Execute the single-axis motion with constant torque
in PT mode

_ECAT_Slave_PT_Advance_Config

Advanced setting of PT mode

Group Motion Control

_ECAT_Slave_User_Motion_Control_Set_Enable_
Mode

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.
_ECAT_Slave_User_Motion_Control_Get_Enable_
Mode

Acquire the status in the current group.

_ECAT_Slave_User_Motion_Control_Set_T ype Set the motion mode in the sp ecified group.
_ECAT_Slave_User_Motion_Control_Set_Data

Set the data of each axis in the specified group.
_ECAT_Slave_User_Motion_Control_Clear_Data

Clear the data of each axis in the specified group.

_ECAT_Slave_User_Motion_Control_Get_DataCnt

Read the data number that have not been

processed in the specified group.
_ECAT_Slave_User_Motion_Control_ Ralm

Reset the alarm of all axes in the specified group.
_ECAT_Slave_User_Motion_Control_ Svon

Enable/disable all axes in the specified group.

_ECAT_Slave_User_Motion_Control_Get_Alm

Acquire the current alarm status in the specified

group.

Operation of DI/DO module
_ECAT_Slave_DIO_Get_Input_Value Acquire the DI status
_ECAT_Slave_DIO_Get_Output_Value Acquire the DO status
_ECAT_Slave_DIO_Set_Output_Value Set the DO status
_ECAT_Slave_DIO_Get_Single_Input_Value Acquire the input value of the specified channel
_ECAT_Slave_DIO_Get_Single_Output_Value Acquire the output value of the specified channel
_ECAT_Slave_DIO_Set_Single_Output_Value Set the output value of the specified channel

API List of EtherCAT Dynamic-Link Library EtherCAT Programming Guide

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Operation of DI/DO module

_ECAT_Slave_DIO_Set_Output_Error_Mode

Enable/Disable the retentive function of each
channel on remote DO module when EtherCAT
communication is disconnected

_ECAT_Slave_DIO_Set_Output_Error_Value

Set the output status of each channel on remote DO
module when EtherCAT communication is
disconnected and the retentive function is enabled

Operation of AI/AO Module

_ECAT_Slave_AIO_Get_Input_Value

Acquire analog input value

_ECAT_Slave_AIO_Set_Output_Value

Set analog output value

_ECAT_Slave_AIO_Get_Output_Value

Acquire analog output value

Operation of Pulse Module (R1-EC5621D0 series)

_ECAT_Slave_R1_EC5621_Set_Output_Mode

Set the mode of pulse output.

_ECAT_Slave_R1_EC5621_Set_Input_Mode

Set the mode of pulse input.

_ECAT_Slave_R1_EC5621_Set_ORG_Inverse

Set the contact type (NC/NO) of the origin switch
(ORG).

_ECAT_Slave_R1_EC5621_Set_QZ_Inverse

Set the contact type (NC/NO) of encoder’s Z pulse
(QZ).

_ECAT_Slave_R1_EC5621_Set_Home_SpMode

Apply the special mode when homing.

_ECAT_Slave_R1_EC5621_Set_MEL_Inverse

Set the contact type (NC/NO) of the negative limit
switch (MEL).

_ECAT_Slave_R1_EC5621_Set_PEL_Inverse

Set the contact type (NC/NO) of the positive limit
switch (PEL).

_ECAT_Slave_R1_EC5621_Set_Svon_Inverse

Set the contact type (NC/NO) of the servo enable
switch (Svon).

_ECAT_Slave_R1_EC5621_Set_Home_Slow_Down

It sets the deceleration time after the motor reaches
the origin

_ECAT_Slave_R1_EC5621_Get_IO_Status

Acquire the status of all I/O points

_ECAT_Slave_R1_EC5621_Get_Single_IO_Status

Acquire the status of single I/O point.

Operation of Pulse Module (R1-ECx62xD0 series)
_ECAT_Slave_R1_ECx62x_Set_Output_Mode Set the type of pulse output
_ECAT_Slave_R1_ECx62x_Set_Input_Mode Set the type of pulse input

_ECAT_Slave_R1_ECx62x_Set_ORG_Inverse

Set the contact type (NC/NO) of the origin switch
(ORG)

_ECAT_Slave_R1_ECx62x_Set_QZ_Inverse

Set the contact type (NC/NO) of encoder’s Z pulse
signal (QZ)

_ECAT_Slave_R1_ECx62x_Set_Home_SpMode Apply the special mode when homing

_ECAT_Slave_R1_ECx62x_Set_MEL_Inverse

Set the contact type (NC/NO) of the negative limit
switch (MEL)

_ECAT_Slave_R1_ECx62x_Set_PEL_Inverse

Set the contact type (NC/NO) of the positive limit
switch (PEL)

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Operation of Pulse Module (R1-ECx62xD0 series)
_ECAT_Slave_R1_ECx62x_Set_Svon_Inverse

Set the contact type (NC/NO) of the servo enable
switch (Svon)

_ECAT_Slave_R1_ECx62x_Set_Home_Slow_Down

It sets the deceleration time after the motor reaches
the Home switch

_ECAT_Slave_R1_ECx62x_Get_IO_Status Acquire the status of all I/O points
_ECAT_Slave_R1_ECx62x_Get_Single_IO_Status Acquire the status of single I/O point

Operation of delta servo drive

_ECAT_Slave_DeltaServo_Write_Parameter

Write servo parameter values to Delta servo drives

_ECAT_Slave_DeltaServo_Read_Parameter

Read servo parameter values from Delta servo
drives

_ECAT_Slave_DeltaServo_Read_Parameter_Info

Read servo parameter attributes from Delta servo
drives

_ECAT_Slave_DeltaServo_Set_Velocity_Limit

Set Delta servo motor’s max. speed

_ECAT_Slave_DeltaServo_Set_Compare_Enable

Write the pulse compare parameter, which is
identical to Delta servo parameter P5-59

_ECAT_Slave_DeltaServo_Get_Compare_Enable

Read the pulse compare parameter that is written
to the servo drive, which is identical to Delta servo
parameter P5-59

_ECAT_Slave_DeltaServo_Set_Compare_Config

Write the data array number and values of the
pulse compare function to Delta servo drives

Analog Input Settings (R1-EC8124D0 series)

_ECAT_Slave_R1_EC8124_Set_Input_RangeMode

Set the sampling range of Delta analog input
module

_ECAT_Slave_R1_EC8124_Set_Input_ConvstFreq_
Mode

Set the sampling rate of Delta analog input
module

_ECAT_Slave_R1_EC8124_Set_Input_Enable

Enable/Disable the analog input sampling function
of Delta analog input module

_ECAT_Slave_R1_EC8124_Get_Input_RangeMode

Acquire the sampling range of Delta analog input
module

_ECAT_Slave_R1_EC8124_Set_Input_AverageMode

Set the average times for the analog input filter of
Delta analog input module.

Analog Output Settings (R1-EC9144D0 series)

_ECAT_Slave_R1_EC9144_Set_Output_RangeMode

Set the output range of Delta analog output
module

_ECAT_Slave_R1_EC9144_Set_Output _Enable

Enable/Disable the analog output of Delta module

_ECAT_Slave_R1_EC9144_Get_Output_ReturnCode

Acquire the operation status of Delta analog
output module

API List of EtherCAT Dynamic-Link Library EtherCAT Programming Guide

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Auto Recording Function for Motion Axis

_ECAT_Slave_Record_Data_Set_Type Set the recording data type of specified axis.
_ECAT_Slave_Record_Data_Set_Enable

Enable/Disable the recording function of specified
axis

_ECAT_Slave_Record_Data_Get_Cnt Acquire the data entry number of specified axis
_ECAT_Slave_Record_Data_ReadData Acquire the recorded data of specified axis
_ECAT_Slave_Record_Clear_Data Delete the saved record of specified axis

_ECAT_Slave_Record_Multi_Set_Enable

Enable/Disable the recoding function of specified
multiple axes

_ECAT_Slave_Record_Multi_Clear_Data Delete the saved record of specified multiple axes

Operation of Local Digital I/O

_ECAT_GPIO_Set_Output

Control the output status of the GPIO on the motion
card

_ECAT_GPIO_Get_Output

Read the output status of the GPIO on the motion
card

_ECAT_GPIO_Get_Input Read the input status of the GPIO on the motion card

High-Speed Pulse Compare Function

_ECAT_Compare_Set_Channel_Position Overwrite a position value for the specified channel

_ECAT_Compare_Get_Channel_Position

Acquire the current position value of the specified
channel

_ECAT_Compare_Set_Ipulser_Mode

Set the mode of pulse input for the specified
channel

_ECAT_Compare_Set_Channel_Direction Set the pulse direction of the specified channel

_ECAT_Compare_Set_Channel_Trigger_Time

Set the trigger retaining time for the specified
channel

_ECAT_Compare_Set_Channel_One_Shot

Force the trigger manually once for the specified
channel

_ECAT_Compare_Set_Channel_Source Set the compare source for the specified channel.

_ECAT_Compare_Set_Channel_Enable

Enable/disable the compare function for the
specified channel

_ECAT_Compare_Channel0_Position

Set the parameters for triggering the signal at a
fixed pulse interval of channel 0

_ECAT_Compare_Set_Channel0_Trigger_By_GPIO

Set the parameters for triggering the signal at a
fixed pulse interval of channel 0, which is enabled /
disabled by GPIO

_ECAT_Compare_Set_Channel1_Output_Enable

Enable/Disable the trigger function of channel 1
(user-defined pulse intervals)

_ECAT_Compare_Set_Channel1_Output_Mode Set the output mode of channel 1
_ECAT_Compare_Get_Channel1_IO_Status Acquire the operation status of channel 1

_ECAT_Compare_Set_Channel1_GPIO_Out Set the output status of the PIN15 on CN2 of GPIO

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High-Speed Pulse Compare Function

_ECAT_Compare_Set_Channel1_Position_Table

Set the pulse data of channel 1 (user-defined pulse
intervals)

_ECAT_Compare_Set_Channel1_Position_Table_L
evel

Set the pulse data of channel 1 and its user-defined
active level for triggering signals

_ECAT_Compare_Get_Channel1_Position_Table_C

Acquire the current trigger counts of channel 1

_ECAT_Compare_Set_Channel_Polarity

Set the trigger level of the compare function

_ECAT_Compare_Reuse_Channel1_Position_Table

Re-execute the compare function of channel 1 once

_ECAT_Compare_Reuse_Channel1_Position_Table
_Level

Re-execute the compare function of channel 1 once,
which the trigger level is user-defined

Dynamic Link Library Information

_ECAT_Master_Get_DLL_Path Acquire the directory of the EtherCat_DLL.dll file

_ECAT_Master_Get_DLL_Version

Acquire the version information of the
EtherCat_DLL.dll file

_ECAT_Master_Get_DLL_Path_Single

Acquire the directory of the ECAT_RTX_DLL.dll or
PCI_L221.dll file

_ECAT_Master_Get_DLL_Version_Single

Acquire the version information of the
ECAT_RTX_DLL.dll or PCI_L221.dll file

Software Protection

_ECAT_Security_Check_Verifykey

Check the verification key

_ECAT_Security_Get_Check_Verifykey_State

Check the verification status of the verification key

_ECAT_Security_Write_Verifykey

Write the verification key into the verification IC

_ECAT_Security_Get_Write_Verifykey_State

Obtain the status and result of writing in the
verification key

_ECAT_Security_Check_UserPassword

Check the user password

_ECAT_Security_Get_Check_UserPassword_State

Acquire the status of verifying the user password

_ECAT_Security_Write_UserPassword

Write in the user password into the verification IC

_ECAT_Security_Get_Write_UserPassword_State

Acquire the status and result of writing in the user
password

Operating MRAM in PAC

_ECAT_Master_MRAM_Write_Word_Data

Write the U16 data (Word) to the specified address
of MRAM in PAC

_ECAT_Master_MRAM_Read_Word_Data

Read the U16 data (Word) from the specified
address of MRAM in PAC

_ECAT_Master_MRAM_Write_DWord_Data

Write the U32 data (DWord) into the specified
address of MRAM in PAC

_ECAT_Master_MRAM_Read_DWord_Data

Read the U32 data (DWord) from the specified
address of MRAM in PAC

API List of EtherCAT Dynamic-Link Library EtherCAT Programming Guide

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Retentive Digital Output Function (R1-EC70E2D0 series)

_ECAT_Slave_R1_EC70E2_Set_Output_Enable Enable/Disable the digital output of the module

Retentive Digital Output Function (R1-EC70X2D0 series)

_ECAT_Slave_R1_EC70X2_Set_Output_Enable Enable/Disable digital output of the module

MPG operation (R1-EC5614D0 series)

_ECAT_Slave_R1_EC5614_Set_MJ_Config

Set the parameters of MPG function

_ECAT_Slave_R1_EC5614_Set_MJ_Enable

Enable/Disable the MPG function

_ECAT_Slave_R1_EC5614_Get_IO_Status

Acquire the I/O contact status of the MPG module

_ECAT_Slave_R1_EC5614_Get_MPG_Counter

Acquire the value of the MPG counter

March, 2017 5-1

EtherCAT Master
Configuration

This chapter provides introduction on how to use APIs for EtherCAT master before
initialization. APIs mentioned here are for adv anced users. If no special requirement is
defined, EtherCAT master is set in default.

5.1 _ECAT_Master_Set_CycleTime ···························································· 5-3

5.2 _ECAT_Master_Get_CycleTime ··························································· 5-4

5.3 _ECAT_Master_NodeID_Alias_Enable ··················································· 5-5

5.4 _ECAT_Get_SerialNo ········································································· 5-6

5.5 _ECAT_Master_Get_DLL_SeqID ·························································· 5-7

5.6 _ECAT_Autoconfig_Open_File ····························································· 5-8

5.7 _ECAT_Autoconfig_Save_File ······························································ 5-9

5.8 _ECAT_Autoconfig_Set_Slave_DCTime ··············································· 5-10

5.9 _EACT_Autoconfig_Clear_ConfigFile ···················································5-11

5.10 _ECAT_Autoconfig_Set_NodeID_Alias ················································· 5-12

5.11 _EC AT_Autoconfig_Get_NodeID_Alias ················································· 5-14

5.12 _ECAT_Autoconfig_Save_NodeID_Alias ··············································· 5-15



EtherCAT Master Configuration EtherCAT Programming Guide

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5

API list of EtherCAT master configuration

Function name

Description

_ECAT_Master_Set_CycleTime

Set the cycle time of the EtherCAT master
communication. *Set before initialization.

_ECAT_Master_Get_CycleTime

Acquire the cycle time of the EtherCAT master
communication.

_ECAT_Master_NodeID_Alias_Enable

Determine whether to enable user-defined station.
*Set before initialization.

_ECAT_Master_Get_SerialNo

Get the serial No. of PAC or the motion card.

_ECAT_Master_Get_DLL_SeqID

Acquire the sequence ID of the current DLL.

_ECAT_Autoconfig_Open_File

Read and apply the configuration file of the
communication topology and DC data for system

initialization. *Set before initialization.

_ECAT_Autoconfig_Save_File

Save the current communication topology and DC
data to the configuration file.

_ECAT_Autoconfig_Set_Slave_DCTime

Set the DC time of each node.

_EACT_Autoconfig_Clear_ConfigFile

Clear the currently imported EtherCAT master
configuration.

_ECAT_Autoconfig_Set_NodeID_Alias

Set user-defined station alias of each node. *Set after
initialization.

_ECAT_Autoconfig_Get_NodeID_Alias

Acquire the user-defined station alias of each node.
*Set after initialization.

_ECAT_Autoconfig_Save_NodeID_Alias

Save the user-defined station alias to the module
memory block.

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5

5.1 _ECAT_Master_Set_CycleTime



Syntax

U16 PASCAL _ECAT_Master_Set_CycleTime (U16 CardNo, U16 Mode)



Purpose

This is for setting the cycle time

of the EtherCAT master communication. *Set before initialization.

Note: This API can only be executed after the EtherCAT Master has been started
( “_ECAT_Master_Open” in section 6.1) and before EtherCAT communication is initialized
( “_ECAT_Master_Initial” in section 6.2).



Parameter

Name Data type Property Description

CardNo U16 Number Card No.

Mode U16 Option

Communication cycle time (us)
0: 2000 us
1: 1000 us
2: 500 us
3: 250 us
4: 125 us



Example

U16 Status;
U16 CardNo=0;
U16 Cardnum=0;

Status = _ECAT_Master_Open (&Cardnum);
if (Cardnum>0)
{
Status = _ECAT_Master_Get_CardSeq (0, &CardNo);
// Execute the API after enabling the motion card an d before initialization.
U16 Mode = 3;
Status = _ECAT_Master_Set_CycleTime (CardNo, Mode);

Status = _ECAT_Master_Initial(CardNo);
}

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5.2 _ECAT_Master_Get_CycleTime



Syntax

U16 PASCAL _ECAT_Master_Get_CycleTime (U16 CardNo, U16 *CycleTime)



Purpose

This is for acquiring the cycle time of the

EtherCAT master communication.

Note: This function can be used only after the EtherCAT Master is enabled by “_ECAT_Master_Open” (refer
to section 6.1).



Parameter

Name Data type Property Description

CardNo U16 Number Card No.

CycleTime U16* Time (us)

Communication cycle time (unit: us);
The Master currently only supports cycle times of
2000, 1000, 500, 250, 125. For the slave cycle time,
please refer to the description of each Slave.



Example

U16 Status;
U16 CardNo=0;
U16 Cardnum=0;
U16 CycleTime =0;
Status = _ECAT_Master_Open (&Cardnum);
if (Cardnum>0)
{
Status = _ECAT_Master_Get_CardSeq (0, &CardNo);
// Acquire the Master’s CycleTime setting information.
Status = _ECAT_Master_Get_CycleTime (CardNo, &CycleTime);
}

EtherCAT Programming Guide EtherCAT Master Configuration

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5

5.3 _ECAT_Master_NodeID_Alias_Enable



Syntax

U16 PASCAL _ECAT_Master_NodeID_Alias_Enable (U16 CardNo, U16 Enable)



Purpose

This is for determining whether to enable user-defined station.
*Set before initialization. If there is any EtherCA T slave that has not been assigned with an alias,
error message (0x1004) will occur.

Note:

1. Please make sure no repeated slave station alias is on the bus.

2. If you are using any of the Delta R1-EC series modules, please refer to Chapter 5.10
_ECAT_Autoconfig_Set_NodeID_Alias to set the station number of all R1-EC series modules on
the EtherCAT bus. Once the setting is complete, refer to section 5.12
_ECAT_Autoconfig_Save_NodeID_Alias to save this setting to the module’s memory. Then,
re-initialize EtherCAT bus.

3. If there is a repeated station alias or one of the station aliases is not set, an API error message
(0x1004) will occur.

4. This API can only be executed after the EtherCAT Master has been started
( “_ECAT_Master_Open” in section 6.1) and before EtherCAT communication is initialized
( “_ECAT_Master_Initial” in section 6.2).



Parameter

Name Data type Property Description

CardNo U16 Number Card No.

Enable U16 Option

0: Disable user-defined station alias.
1: Enable user-defined station alias.



Example

U16 Status;
U16 CardNo=0, Enable =1;
U16 MapNodeID;
U16 Cardnum=0;
Status = _ECAT_Master_Open (&Cardnum);
if (Cardnum>0)
{
Status = _ECAT_Master_Get_CardSeq (0, &CardNo);
// Disable EtherCAT communication.
Status = _ECAT_Master_Reset(CardNo);
// Enable user-defined station alias.
Status = _ECAT_Master_NodeID_Alias_Enable (CardNo, Enable);
// Eanble the EtherCAT communication again.
Status = _ECAT_Master_Initial(CardNo);
}

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5

5.4 _ECAT_Get_SerialNo

 Syntax
U16 PASCAL _ECAT_Get_SerialNo (U16 CardNo, U32* SerialNo)



Purpose

This is for acquiring the serial No. of the PAC or motion card.

Note: This API can only be executed after the EtherCAT Master has been started by API
“_ECAT_Master_Open” (section 6.1).



Parameter

Name Data type Property Description

CardNo U16 Number Card No.

SerialNo U32 Number Serial No.



Example

U16 Status;
U16 CardNo=0;
U32 SerialNo=0;
U16 Cardnum=0;

Status = _ECAT_Master_Open (&Cardnum);
if (Cardnum>0)
{
Status = _ECAT_Master_Get_CardSeq (0, &CardNo);

Status = _ECAT_Get_SerialNo (CardNo, &SerialNo);
}

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5

5.5 _ECAT_Master_Get_DLL_SeqID



Syntax

U16 PASCAL _ECAT_Master_Get_DLL_SeqID (U16 CardNo, U16 *SeqID)



Purpose

This is for acquiring the sequence ID of the current dynamic link library (DLL).

Note: This API can only be executed after the EtherCAT Master has been started by _ECAT_Master_Open
(section 6.1).



Parameter

Name Data type Property Description

CardNo U16 Number Card No.

SeqID U16* Value Sequence ID of the current DLL.



Example

U16 Status;
U16 CardNo = 0;
U16 SeqID = 0;
U16 Cardnum=0;

Status = _ECAT_Master_Open (&Cardnum);
if (Cardnum>0)
{

Status = _ECAT_Master_Get_CardSeq (0, &CardNo);

Status = _ECAT_Master_Get_DLL_SeqID (CardNo, &SeqID);

}

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5

5.6 _ECAT_Autoconfig_Open_File



Syntax

U16 PASCAL _ECAT_Autoconfig_Open_File (U16 CardNo, I8 *FilePath)



Purpose

This is for reading and applying the configuration file of communication topology and DC data.
EtherCA T Master will refer to the saved communicati on topology and DC data during con nection.

If the actual communication structure does not match the DC data, EtherCAT Master will return
an error code. With this API, you can avoid EtherCAT Master from issuing the wrong command
when the communication topology is changed accidently.

Note: This API can only be executed after the EtherCAT Master has been started
( “_ECAT_Master_Open” in section 6.1) and before EtherCAT communication is initialized
( “_ECAT_Master_Initial” in section 6.2).



Parameter

Name Data type Property Description

CardNo U16 Number Card No.

FilePath I8* String The directory of the configuration file



Example

U16 Status;
U16 CardNo=0;
I8 FilePath[255];
U16 Cardnum=0;

Status = _ECAT_Master_Open (&Cardnum);
if (Cardnum>0)
{

Status = _ECAT_Master_Get_CardSeq (0, &CardNo);

strcpy(FilePath, "C:\\EtherCA T_Information.dat");

Status = _ECAT_Autoconfig_Open_File (CardNo, FilePath);

Status = _ECAT_Master_Initial(CardNo);

}

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5

5.7 _ECAT_Autoconfig_Save_File



Syntax

U16 PASCAL _ECAT_Autoconfig_Save_File (U16 CardNo, I8 *FilePath)



Purpose

This is for saving the communication topology and DC data to the configuration file.
Before initializing the master (_ECAT_Master_InitialEtherCAT in section 6.2), you can use
“_ECAT_Autoconfig_Open_File” (section 5.6) to import this configuration file so that the
EtherCAT Master will able to check if the actual topology complies with the configuration and
return an error code.

Note: This API can only be executed after the EtherCAT Master has been started by API
“_ECAT_Master_Open” (section 6.1).



Parameter

Name Data type Property Description

CardNo U16 Number Card No.

FilePath I8* String

Save the communication topology and DC data to the
configuration file



Example

U16 Status;
U16 CardNo=0;
I8 FilePath[255];
U16 Cardnum=0;

Status = _ECAT_Master_Open (&Cardnum);
if (Cardnum>0)
{

Status = _ECAT_Master_Get_CardSeq (0, &CardNo);

strcpy(FilePath, "C:\\EtherCA T_Information.dat");
Status = _ECAT_Autoconfig_Save_File (CardNo, FilePath);

}

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5

5.8 _ECAT_Autoconfig_Set_Slave_DCTime



Syntax

U16 PASCAL _ECAT_Autoconfig_Set_Slave_DCTime (U16 CardNo, U16 NodeID,
U16 Mode)



Purpose

This is for setting the DC time of each node, which default is 1000 us.

Note: This API can only be executed after the EtherCAT Master has been started
( “_ECAT_Master_Open” in section 6.1) and before EtherCAT communication is initialized
( “_ECAT_Master_Initial” in section 6.2).



Parameter

Name Data type Property Description

CardNo U16 Number Card No.

NodeID U16 Number Node ID

Mode U16 Option

Set DC time for each node.
0: 2000 us
1: 1000 us
2: 500 us
3: 250 us
4: 125 us



Example

U16 Status;
U16 CardNo=0,NodeID=1;
U16 Mode=1; // 1ms
U16 Cardnum=0;

Status = _ECAT_Master_Open (&Cardnum);
if (Cardnum>0)
{

Status = _ECAT_Master_Get_CardSeq (0, &CardNo);

Status = _ECAT_Autoconfig_Set_Slave_DCTime (CardNo, NodeID, Mode);

Status = _ECAT_Master_Initial(CardNo);

}

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5.9 _EACT_Autoconfig_Clear_ConfigFile



Syntax

U16 PASCAL _EACT_Autoconfig_Clear_ConfigFile (U16 CardNo)



Purpose

This is for clearing the configuration file loaded via _ECAT_Autoconfig_Open_File. It is mainly
used when a wrong file has been opened or the changes are not compatible with the previous
settings.

Note: This API can only be executed after the EtherCAT Master has been started
( “_ECAT_Master_Open” in section 6.1) and before EtherCAT communication is initialized
( “_ECAT_Master_Initial” in section 6.2).



Parameter

Name Data type Property Description

CardNo U16 Number Card No.



Example

U16 Status;
U16 CardNo=0;
U16 Cardnum=0;

Status = _ECAT_Master_Open (&Cardnum);
if (Cardnum>0)
{
Status = _ECAT_Master_Get_CardSeq (0, &CardNo);

Status = _EACT_Autoconfig_Clear_ConfigFile (CardNo);

Status = _ECAT_Master_Initial(CardNo);
}

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5

5.10 _ECAT_Autoconfig_Set_NodeID_Alias



Syntax

U16 PASCAL _ECAT_Autoconfig_Set_NodeID_Alias (U16 CardNo, U16 NodeID, U16
MapNodeID)



Purpose

This is for configuring user-defined station alias of each node. *Set after initialization.

Note:

1. This API is only applicable to Delta R1-EC series remote modules.

2. After executing this API, users still need to validate the new station alias. To validate it, please set the
station alias of each node first and by using “_ECAT_Autoconfig_Save_NodeID_Alias” (refer to section

5.12). Meanwhile, the station alias information can be acquired by
“_ECAT_Autoconfig_Get_NodeID_Alias” (refer to section 5.11)

3. This API can only be executed after the EtherCAT Master has been started
( “_ECAT_Master_Open” in section 6.1) and before setting the user-defined station alias of each node
( “_ECAT_Autoconfig_Save_NodeID_Alias” in section 5.12) and
( “_ECAT_Master_NodeID_Alias_Enable” in section 5.3) also before ( “_ECAT_Master_Initial” in section

6.2).



Parameter

Name Data type Property Description

CardNo U16 Number Card No.

NodeID U16 Number Node ID

MapNodeID U16 Number Specify Node ID



Example

U16 Status;
U16 CardNo=0,NodeID=1;
U16 MapNodeID = 2;
U16 Cardnum=0;
Status = _ECAT_Master_Open (&Cardnum);
if (Cardnum>0)
{

Status = _ECAT_Master_Get_CardSeq (0, &CardNo);
// Reset EtherCAT communication
Status = _ECAT_Master_Reset(CardNo);
// Specified first node of slave device as station 2
Status = _ECAT_Autoconfig_Set_NodeID_Alias (CardNo, NodeID, MapNodeID);
// Save user-defined alias to all of the connected device, and then EtherCAT

communication will stop automatically.

Status = _ECAT_Autoconfig_Save_NodeID_Alias (CardNo);
// ………….waiting for reboot all of the device manually………….
bool module_reboot = false;
While(!module_reboot)

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{
}

// Enabled the communication mode of user-defined alias
Status = _ECAT_Master_NodeID_Alias_Enable (CardNo, Enable);
// initialize EtherCAT communication
Status = _ECAT_Master_Initial(CardNo);

}