Ecat_Slave_Motion_Set_Movemode - Delta EtherCAT Programming Manual

General Operation of Motion Axis

8.8 _ECAT_Slave_Motion_Set_MoveMode


Syntax
U16 PASCAL _ECAT_Slave_Motion_Set_MoveMode(U16 CardNo, U16 AxisNo,
8
U16 SlotNo, U16 MoveMode)

Purpose
This is for setting the motion mode of the axis.

Parameter
Name
CardNo
AxisNo
SlotNo
MoveMode

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0, MoveMode=1;
Status = _ECAT_Slave_Motion_Set_MoveMode(CardNo, AxisNo, SlotNo, MoveMode);
8-10
Data type Property
U16 Number
U16 Number
U16 Number
U16 Mode
Description
Card No.
Node ID
Slot ID
Motion mode of the axis
0: Idle mode
1: Profile Position (PP) mode
2. Velocity mode
3: Profile Velocity (PV) mode
4: Profile Torque (PT) mode
6: Home mode
7: Interpolated Position (IP)
8: Cyclic Synchronous Position (CSP) mode
9: Cyclic Synchronous Velocity (CSV) mode
10: Cyclic Synchronous Torque (CST) mode
EtherCAT Programming Guide
March, 2017