Group Motion Control - Delta EtherCAT Programming Manual

Group Motion Control

This chapter introduces the API for setting the specified groups. The grouped motion
axes use two methods to carry out motion commands. In the first method, EtherCAT
master completes the command of the group one after another to avoid motion
commands being executed simultaneously. Another method is to fill in the DDA table,
which is for the profile of the path. Users have to fill in the position required in each
communication cycle for the motion axis. It can perform the user designed interpolation
function for three axes or above. However, users have to calculate the interpolation for
all axes during acceleration and deceleration.
17.1 _ECAT_Slave_User_Motion_Control_Set _Enable_Mode ······················· 17-3
17.2 _ECAT_Slave_User_Motion_Control_Get_Enable_Mode ······················· 17-5
17.3 _ECAT_Slave_User_Motion_Control_Set_Type ··································· 17-6
17.4 _ECAT_Slave_User_Motion_Control_Set_Data ··································· 17-8
17.5 _ECAT_Slave_User_Motion_Control_Clear_Data ································· 17-9
17.6 _ECAT_Slave_User_Motion_Control_Get_DataCnt ····························· 17-10
17.7 _ECAT_Slave_User_Motion_Control_Ralm ········································ 17-11
17.8 _ECAT_Slave_User_Motion_Control_Svon ········································ 17-12
17.9 _ECAT_Slave_User_Motion_Control_Get_Alm ··································· 17-13
March, 2017
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