Ecat_Slave_Motion_Set_Command - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

8.7 _ECAT_Slave_Motion_Set_Command


Syntax
U16 PASCAL _ECAT_Slave_Motion_Set_Command(U16 CardNo, U16 AxisNo, U16 SlotNo, I32
NewCommand)

Purpose
This is for setting the motion command data of the axis. The unit (property) of the data will vary
with the applying motion mode.

Parameter
Name
CardNo
AxisNo
SlotNo
NewCommand

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 NewCommand=3000000;
Status = _ECAT_Slave_Motion_Set_Command(CardNo, AxisNo, SlotNo, NewCommand);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
I32 Value
General Operation of Motion Axis
Description
Card No.
Node ID
Slot ID
Acquire the current command information:
In CSP mode, the data is the current position.
In CSV mode, the data is the current speed.
In CST mode, the data is the permillage of current
torque.
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