Delta EtherCAT - Ecat_Slave_User_Motion_Control_Set_Type

Group Motion Control EtherCAT Programming Guide
17-6 March, 2017
17
17.3 _ECAT_Slave_User_Motion_Control_Set_Type

Syntax
U16 PASCAL_ECAT_Slave_User_Motion_Control_Set_Type (U16 CardNo, U16 GroupNo,
U16 AxisNum, U16 *AxisNo, U16 *SlotNo, U16 Type)

Purpose
This is for setting the motion mode of the group.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
GroupNo U16 Number Group No.
AxisNum U16 Value Axis number in one group
AxisNo U16*
Array for
each axis
Array for each axis (node ID); the array number should
equal to the axis number
AxisNo Array[0] stores the first node
AxisNo Array[1] stores the second node
….
SlotNo U16*
Array for
each slot
Array for each axis (slot ID); the array number should
equal to the axis number
Type U16 Option
Description of each mode:
0: Mode for general motion command; When applying
this mode, users have to apply the motion commands
from other chapters. And the control axis of the
specified group will complete the command in
sequence.
1: User-defined path (CSP mode); When applying this
mode, users have to defined the path for each axis in
each EtherCAT communication cycle.
2: User-defined path (CSV mode); When applying this
mode, users have to specify the speed for each axis in
each EtherCAT communication cycle.