Ecat_Slave_Pt_Start_Move - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

16.1 _ECAT_Slave_PT_Start_Move


Syntax
U16 PASCAL _ECAT_Slave_PT_Start_Move (U16 CardNo, U16 AxisNo, U16 SlotNo,
I16 Target_Torque, U32 Slope, I16 Torque_Profile)

Purpose
This is for executing the single-axis motion with constant torque in PT mode.

Parameter
Name
CardNo
AxisNo
SlotNo
Target_Torque
Slope

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
I16 Target_Torque=2;
U32 Slope=10;
Status=_ECAT_Slave_PT_Start_Move (CardNo, AxisNo, SlotNo, Target_Torque, Slope);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
I16 Permillage
U32 0.1% / s
Description
Card No.
Node ID
Slot ID
0.1% of the maximum rated torque, which setting range
is 1 ~ 1000.
The torque's rising slope; 0.1% per second.
Profile Torque Mode (PT)
16
16-3