Ecat_Slave_Csv_Multi_Start_Move - Delta EtherCAT Programming Manual

EtherCAT Programming Guide
Name
Acc_Type

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0, Curve_Mode = 1, Acc_Type = 0;
I32 Target_Velocity =600000;
F64 Acceleration = 0.2;
Status = _ECAT_Slave_CSV_Start_Move (CardNo, AxisNo, SlotNo, Target_Velocity,
Acceleration, Curve_Mode, Acc_Type);

10.2 _ECAT_Slave_CSV_Multi_Start_Move


Syntax
U16 PASCAL _ECAT_Slave_CSV_Multi_Start_Move (U16 CardNo, U16 AxisNum,
U16 *AxisNo, U16 *SlotNo, I32 *Target_Velocity, F64 *Acceleration, U16 Curve_Mode,
U16 Acc_Type)

Purpose
This is for multi-axes synchronous motion control with the setting speed.

Parameter
Name
CardNo
AxisNum
AxisNo
SlotNo
Target_Velocity
March, 2017
Data type Property
U16 Option
Data type Property
U16 Number
U16 Quantity
U16* Array
U16* Array
I32* inc/sec
Cyclic Synchronous Velocity Mode (CSV)
Description
Acceleration unit:
0: Second
1: inc/ s^2
Description
Card No.
Quantity of the axes for synchronous motion control.
Refer to section 2.1 for information about suggested
maximum axis number.
Array of node ID
Array of slot ID
Array of target speed
inc signifies the unit set in the device. Please refer
to the manual of the slave device for more details.
(OD: 0x60FF Sub 0)
10
10-3