Delta EtherCAT Programming Manual page 269

Profile Position Mode (PP)
Status = _ECAT_Slave_PP_Start_Move(CardNo, AxisNo, SlotNo, Dist, MaxVel, TAcc, TDec,
Abs_Rel);
13
13.2 _ECAT_Slave_PP_Advance_Config

Syntax
U16 PASCAL _ECAT_Slave_PP_Advance_Config(U16 CardNo, U16 AxisNo, U16 SlotNo,U16
SetBit, I32 End_Vel, I32 Min_Range_Limit, I32 Max_Range_Limit, I32 Min_Soft_Limit, I32
Max_Soft_Limit)

Purpose
This is for the advanced setting of PP mode.

Parameter
End_Vel
Min_Range_Limit
Max_Range_Limit
Min_Soft_Limit
13-4
Name Data type
CardNo U16
AxisNo U16
SlotNo U16
SetBit U16
I32
I32
I32
I32
Property
Number Card No.
Number Node ID
Number Slot ID
Enable the following parameters via the bit values:
Bit 0 → End_Vel
Bit 1 → Min_Range_Limit
Option
Bit 2 → Max_Range_Limit
Bit 3 → Min_Soft_Limit
Bit 4 → Max_Soft_Limit
End velocity.
inc signifies the unit set in the slave device. Please
Inc / Sec
refer to the manual of the slave device for more
details. (OD: 0x607A Sub 0)
Set the minimum range for relative movement.
inc signifies the unit set in the slave device. Please
Inc
refer to the manual of the slave device for more
details. (OD: 0x607B Sub 1)
Set the maximum range for relative movement.
inc signifies the unit set in the slave device. Please
Inc
refer to the manual of the slave device for more
details. (OD: 0x607B Sub 2)
Set the minimum range for absolute movement.
Inc
inc signifies the unit set in the slave device. Please
EtherCAT Programming Guide
Description
March, 2017