Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Torque Mode (CST)
March, 2017 11-3
11
11.2 _ECAT_Slave_CST_Multi_Start_Move

Syntax
U16 PASCAL _ECAT_Slave_CST_Multi_Start_Move (U16 CardNo, U16 AxisNum,
U16 *AxisNo, U16 *SlotNo, I16 * Target_Torque, U32 *Slope, U16 Curve_Mode)

Purpose
This is for executing multi- axes synchronous motion with the setting torque.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNum U16 Quantity
Quantity of the axes for synchronous motion control.
Refer to section 2.1 for information about suggested
maximum axis number.
AxisNo U16*
Array for node
ID
Array of node ID
SlotNo U16*
Array for Slot
ID
Array of slot ID
Target_Torque I16*
Array of target
torque
Array of the target torque, the permillage of the
maximum torque. Setting range: 1~1000
Slope U32* 0.1%/s Array of the torque’s rising slope
Curve_Mode U16 Option
1: T-curve (Default)
2: S-curve

Example
U16 Status;
U16 CardNo=16, AxisNum = 2;
U16 AxisNo[2]={1, 2}, SlotNo[2]={0, 0}, Curve_Mode = 1, Acc_Type = 0;
I16 Target_Torque[2] ={2, 2};
U32 Slope[2] = {10, 10};
Status = _ECAT_Slave_CST_Multi_Start_Move (CardNo, AxisNum, &AxisNo, &SlotNo,
&Target_Velocity, &Slope, Curve_Mode);

Delta EtherCAT Specifications

General

Category	Control Systems
Communication Interface	EtherCAT
Data Transfer Rate	100 Mbps
Number of Slaves	Up to 65535
Synchronization Accuracy	< 1 μs
Supported Standards	IEC 61158, IEC 61784
Topology	Star, Tree
Cable Type	Ethernet (CAT5e or higher)
Maximum Cable Length	100 meters (between nodes)

Summary

EtherCAT Operation Example

EtherCAT Initialization

Demonstrates the process of initializing EtherCAT communication, including activating and finding interface cards.

EtherCAT Master Configuration

_ECAT_Master_Set_CycleTime

Explains the API for setting the EtherCAT master communication cycle time before initialization.

Master Initialization

_ECAT_Master_Open

Explains the essential API for controlling the Delta EtherCAT master, checking card quantity, and creating memory blocks.

_ECAT_Master_Initial

Describes the API for initializing EtherCAT communication and switching slaves to OP mode.

General Operation of Motion Axis

_ECAT_Slave_Motion_Set_Svon

Describes the API for setting the servo motor to ON/OFF state.

_ECAT_Slave_Motion_Ralm

Cyclic Synchronous Position Mode (CSP)

_ECAT_Slave_CSP_Start_Move

Details the API for executing linear interpolation of a single axis in CSP mode.

_ECAT_Slave_CSP_Start_V_Move

Homing

_ECAT_Slave_Home_Config

Details the API for setting the homing mode and parameters for motion axes.

_ECAT_Slave_Home_Move

Explains the API for executing the homing procedure on a specified motion axis.

Profile Position Mode (PP)

_ECAT_Slave_PP_Start_Move

Describes the API for executing single-axis linear motion in PP mode.

Profile Velocity Mode (PV)

_ECAT_Slave_PV_Start_Move

Explains the API for executing single-axis motion with constant speed in PV mode.

Group Motion Control

_ECAT_Slave_User_Motion_Control_Set_Enable_Mode

Describes the API for setting the group status and enabling/disabling group motion control.

Operation of Delta Servo System

_ECAT_Slave_DeltaServo_Write_Parameter

Explains the API for writing servo parameter values to Delta servo drives.

_ECAT_Slave_DeltaServo_Read_Parameter

Details the API for reading servo parameter values from Delta servo drives.

Auto Recording Function of Motion Axis

High-Speed Pulse Compare Function

_ECAT_Compare_Set_Channel_Position

Security of Software Protection

_ECAT_Security_Check_Verifykey

_ECAT_Security_Check_UserPassword

MPG Operation (For R1-EC5614D0 Series)

_ECAT_Slave_R1_EC5614_Set_MJ_Config

Sets the parameters for the MPG (Manual Pulse Generator) function.

_ECAT_Slave_R1_EC5614_Set_MJ_Enable

Error Code Description

List of error code

Lists returned values (decimal) and corresponding error code names for EtherCAT DLL operations.

Error code description

Provides detailed descriptions and troubleshooting steps for various EtherCAT error codes.