Delta EtherCAT Programming Manual page 268

EtherCAT Programming Guide
13.1 _ECAT_Slave_CST_Start_Move

Syntax
U16 PASCAL _ECAT_Slave_PP_Start_Move(U16 CardNo, U16 AxisNo, U16 SlotNo,
I32 TargetPos, U32 ConstVel, U32 Acceleration, U32 Deceleration, U16 Abs_Rel)

Purpose
This is for executing single-axis linear motion in PP mode.

Parameter
Name
CardNo
AxisNo
SlotNo
TargetPos
ConstVel
Acceleration
Deceleration
Abs_Rel

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0, Abs_Rel=1;
I32 Dist=5000000;
U32 MaxVel=2000000;
U32 TAcc = 100, Tdec = 100; // A2E: the time (ms) it takes to accelerate to 3000 rpm
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
I32 inc
Pulse per
U32
second (pps)
U32 Pulse / s^2
U32 Pulse / s^2
U16 Option
Description
Card No.
Node ID
Slot ID
The specified moving distance.
inc signifies the unit set in the slave device. Please refer
to the manual of the slave device for more details. (OD:
0x607A Sub 0)
Constant speed of the motion (inc/s)
inc signifies the unit set in the slave device. Please refer
to the manual of the slave device for more details. (OD:
0x6081 Sub 0)
Acceleration (inc/s^2)
inc signifies the unit set in the slave device. Please refer
to the manual of the slave device for more details. (OD:
0x6083 Sub 0)
Deceleration (inc/s^2)
inc signifies the unit set in the slave device. Please refer
to the manual of the slave device for more details. (OD:
0x6084 Sub 0)
0: Relative movement (Default)
1: Absolute movement
Profile Position Mode (PP)
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