Delta EtherCAT Programming Manual page 279

Inverter Motion Control
API list of inverter motion control
_ECAT_Slave_VL_Start_Move
15
15.1 _ECAT_Slave_VL_Start_Move

Syntax
U16 PASCAL _ECAT_Slave_VL_Start_Move (U16 CardNo, U16 AxisNo, U16 SlotNo, I32
TargetVel, U32 Acceleration, U32 Deceleration)

Purpose
This is for executing Delta inverter single-axis motion control with constant speed.

Parameter
Name
CardNo
AxisNo
SlotNo
TargetVel
Acceleration
Deceleration

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
I32 TargetVel=300;
F64 Acceleration=50, Deceleration=50;
Status=_ECAT_Slave_VL_Start_Move (CardNo, AxisNo, SlotNo, TargetVel, Acceleration,
Deceleration);
15-2
Function name
Data type Property
U16 Number
U16 Number
U16 Number
I32 inc/s
U32 inc/s^2
U32 inc/s^2
Description
Inverter single-axis motion control with constant speed.
(Only applicable to Delta inverter)
Description
Card No.
Node ID
Slot ID
Target speed (inc/sec)
inc signifies the unit set in the slave. Please refer to the
user manual of the applied slave device. (OD : 0x6042
Sub 0)
Acceleration
inc signifies the unit set in the slave. Please refer to the
user manual of the applied slave device. (OD: 0x604F
Sub 0)
Deceleration
inc signifies the unit set in the slave. Please refer to the
user manual of the applied slave device. (OD: 0x6050
Sub 0)
EtherCAT Programming Guide
March, 2017