Delta EtherCAT User Manual

EtherCAT Programming Guide MPG Operation
March, 2017 33-3
33
33.1 _ECAT_Slave_R1_EC5614_Set_MJ_Config
 Syntax
U16 PASCAL _ECAT_Slave_R1_EC5614_Set_MJ_Config (U16 CardNo, U16 MJNo,
U16 MJType, U16 NodeID, U16 SlotNo, U16 AxisNum, U16 *AxisArray, U16 *SlotArray,
I32 *MaxSpeedArray, F64 *TaccArray, F64 *RatioArray )
 Purpose
This is for setting the parameters of MPG function.
 Parameter
Name Data type Property Description
CardNo U16
Number
Card number
MJNo U16
Number
Group number of MPG function. It supports
max. 8 groups, numbered from 0 to 7.
MJType U16
Option
Setting of MPG mode :
0: JOG mode
1: Apply MPG (x1)
2: Apply MPG (x4)
NodeID U16
Number
Node ID
SlotNo U16
Number
Slot ID
AxisNum U16 Number
The axis number reqruied by MPG/JOG
(MPG: max. 6 axes; JOG: max. 2 axes)
AxisArray U16* Array of numbers
Data array of node number for the axis
controlled by the MPG module.
SlotArray U16* Array of numbers
Data array of slot number for the axis
controlled by the MPG module.
MaxSpeedArray I32*
Array of speed
limit
Data array of the max. speed for each axis.
(Unit: pps)
TaccArray F64*
Array of
acceleration time
Data array of the max. acceleration for each
axis contolled by MPG module. (Unit:sec)
(The speed is set by parameter
MaxSpeedArray)
RatioArray F64*
Array of output
ratio
For MPG mode only. It sets the ratio of MPG’s
pulse output.
 Example
U16 Status = 0, CardNo = 16, NodeID = 0, SlotNo = 0, AxisNum = 2, MJNo = 2, MJType= 1;
U16 Enable = 1;
U16 AxisArray[2] = {1, 2};
U16 SlotArray[2] = {0, 0};
I32 MaxSpeedArray[2] = {100000, 200000};
F64 TaccArray[2] = {0.1, 0.1};
F64 RatioArray[2] = {1, 1};
// Setting relevant parameters is required.

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English