Delta EtherCAT Programming Manual page 274

EtherCAT Programming Guide
14.1 _ECAT_Slave_PV_Start_Move

Syntax
U16 PASCAL _ECAT_Slave_PV_Start_Move (U16 CardNo, U16 AxisNo, U16 SlotNo,
I32 TargetVel, U32 Acceleration, U32 Deceleration)

Purpose
This is for executing the single-axis motion with constant speed in PV mode.

Parameter
Name
CardNo
AxisNo
SlotNo
TargetVel
Acceleration
Deceleration

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
I32 TargetVel=300;
F64 Acceleration=5, Deceleration=5;
Status=_ECAT_Slave_PV_Start_Move (CardNo, AxisNo, SlotNo, TargetVel, Acceleration,
Deceleration);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
I32 inc/s
U32 inc/s^2
U32 inc/s^2
Description
Card No.
Node ID
Slot ID
Target speed
inc signifies the unit set in the slave device. Please refer
to the manual of the slave device for more details. (OD:
0x60FF Sub 0)
Acceleration speed
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 speed
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)
Profile Velocity Mode (PV)
14
14-3