Ecat_Slave_Cst_Start_Move - Delta EtherCAT Programming Manual

Cyclic Synchronous Torque Mode (CST)
In CST (Cyclic Synchronous Torque) mode, it issues the torque command via PDO
communication. EtherCAT master will calculate all torque commands for the next communication
cycle after analyzing the speed and acceleration set in the API. Then, it sends the new command
11
to all motion axes in each communication cycle so that single axis or multiple axes can operate
with the setting torque.
API list of CST mode

_ECAT_Slave_CST_Start_Move

_ECAT_Slave_CST_Multi_Start_Move
11.1 _ECAT_Slave_CST_Start_Move

Syntax
U16 PASCAL _ECAT_Slave_CST_Start_Move (U16 CardNo, U16 AxisNo, U16 SlotNo,I16
Target_Torque, U32 Slope, U16 Curve_Mode)

Purpose
This is for executing single-axis motion l with the setting torque.

Parameter
Name
CardNo
AxisNo
SlotNo
Target_Torque
Slope
Curve_Mode

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0, Curve_Mode = 1;
I16 Target_Torque = 2;
U32 Slope = 10;
Status = _ECAT_Slave_CST_Start_Move (CardNo, AxisNo, SlotNo, Target_Torque, Slope,
Curve_Mode);
11-2
Function name
Data type Property
U16 Number
U16 Number
U16 Number
I16 Permillage
U32 0.1%/s
U16 Option
Description
Execute single-axis motion with the setting torque
Execute multi-axis synchronous motion with the setting
torque
Description
Card No.
Node ID
Slot ID
Target torque, the permillage of the maximum torque.
Setting range: 1 ~ 1000.
Set the torque's rising slope
1: T-curve (Default)
2: S-curve
EtherCAT Programming Guide
March, 2017