Delta EtherCAT User Manual

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.

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English