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

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English