Ecat_Slave_Csp_Mask_Axis - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

9.22 _ECAT_Slave_CSP_Mask_Axis


Syntax
U16 PASCAL _ECAT_Slave_CSP_Mask_Axis(U16 CardNo , U16 AxisNo , U16 SlotNo ,
U16 Mode)

Purpose
When multi-axis motion command is being executed, this API can be used to stop the specified
axes without influencing others.

Parameter
Name
CardNo
AxisNum
AxisArray
SlotArray

Example
U16 Status;
U16 CardNo=0, MoveAxisNum =3, MoveAxisArray[3]={1,2, 3}, MoveSlotArray[3]={0, 0, 0};
U16 StopAxisNum = 2, StopAxisArray[2]={2, 3}, StopSlotArray[2]={0, 0};
I32 DistArrary[3]= {100000,200000, 300000}, StrVel=0, ConstVel =50000, EndVel=20000;
F64 TPhase1=0.2, TPhase2=0.1;
U16 Scurve =0, Abs_Rel =0;
Status = _ECAT_Slave_CSP_Start_Multiaxes_Move(CardNo, MoveAxisNum,
MoveAxisArray, MoveSlotArray, DistArrary, Strvel, ConstVel, EndVel, TPhase1, TPhase2,
Scurve, Abs_Rel);
Status = _ECAT_Slave_CSP_Mask_Axis(CardNo, StopAxisNum, StopAxisArray,
StopSlotArray)
March, 2017
Data type Property
U16 Number
U16 Quantity
Array for each
U16*
axis
Array for each
U16*
slot
Cyclic Synchronous Position Mode (CSP)
Description
Card No.
Axis No. to be stopped
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
....
Array for each axis (slot ID); the array number should
equal to AxisNum
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