Delta EtherCAT User Manual

EtherCAT Programming Guide Group Motion Control
March, 2017 17-3
17
17.1 _ECAT_Slave_User_Motion_Control_Set _Enable_Mode

Syntax
U16 PASCAL_ECAT_Slave_User_Motion_Control_Set_Enable_mode (U16 CardNo, U16
GroupNo, U16 Mode)

Purpose
This is for setting the group status.
Note:
1. Before using this API, please enable all the axes in the group.
2. Please note that before enabling the group, users should apply
_ECAT_Slave_User_Motion_Control_Set_Type to specify the axes to be grouped and motion of
the group (see section 17.3). Then, use _ECAT_Slave_User_Motion_Control_ Svon (see section
17.8) to enable the motor of each axis. Finally, this API(_ECAT_Slave_User_Motion_Control_Set
_Enable_Mode) can be used. Please refer to the example below.
3. Suggested steps: Set mode to 2 (Mode=2) to switch to the pause state. Then, use API
“_ECAT_Slave_User_Motion_Control_Set_Data” (see section 17.4) to input 100 data beforehand
so that the commands can be issued in time and avoid vibration of the machine.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
GroupNo U16 Number Group No.
Mode U16 Option
Status:
0: Disable
1: Enable
2: Pause

Example
U16 Status;
U16 CardNo=16, GroupNo =1, AxisNum=2, AxisNoArray[2] ={1,2}, SlotNoArray[2] = {0,0},
Type=0, Mode =2, ON_OFF=1, Counter;
I32 DataArray[2]={12,33};
Status =_ECAT_Slave_User_Motion_Control_Set_Type (CardNo, GroupNo ,AxisNum ,
AxisNoArray, SlotNoArray, Type);
// The axes have to be enabled first so that the user can carry on using other relevant functions.
Status = _ECAT_Slave_User_Motion_Control_Svon(CardNo, GroupNo, ON_OFF);
// Enable the mode and set it to pause.
Mode =2;
Status =_ECAT_Slave_User_Motion_Control_Set_Enable_Mode (CardNo, GroupNo, Mode);
// Input 100 data in advance. If the communication cycle of the EtherCAT master is 1 ms, it
means these 100 data requires 100 ms to process.

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English