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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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
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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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