Ecat_Slave_Csp_Set_Softlimit - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.13 _ECAT_Slave_CSP_Set_Softlimit


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Set_Softlimit(U16 CardNo, U16 AxisNo, U16 SlotNo, I32
PosiLimit, I32 NegaLimit, U16 Mode)

Purpose
This is for setting the software limit.
Note:
1. Function of software limit is only available in CSP mode.
2. Users can acquire the status of software limit of each axis via the API
(_ECAT_Slave_CSP_Get_SoftLimit_Status) in section 9.31.

Parameter
Name
CardNo
AxisNo
SlotNo
PosiLimit
NegaLimit
Mode

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I16 PosiLimit =1000000, NegaLimit =-1000000, Mode =1;
Status = _ECAT_Slave_CSP_Set_Softlimit (CardNo, AxisNo, SlotNo, PosiLimit,
NegaLimit, Mode);
9-26
Data type Property
U16 Number
U16 Number
U16 Number
I32 Value
I32 Value
U16 Option
Description
Card No.
Node ID
Slot ID
Set the value of software positive limit
Set the value of software negative limit
1: Motor stops as soon as it reaches the limit
2: Motor decelerates to stop after reaching the limit
(The deceleration time is 0.01 second).
EtherCAT Programming Guide
March, 2017