Delta EtherCAT Programming Manual page 285

Group Motion Control
List of Group Motion Control API
17
_ECAT_Slave_User_Motion_Control_Set_Enable_
Mode
_ECAT_Slave_User_Motion_Control_Get_Enable_
Mode
_ECAT_Slave_User_Motion_Control_Set_Type
_ECAT_Slave_User_Motion_Control_Set_Data
_ECAT_Slave_User_Motion_Control_Clear_Data
_ECAT_Slave_User_Motion_Control_Get_DataCnt
_ECAT_Slave_User_Motion_Control_ Ralm
_ECAT_Slave_User_Motion_Control_ Svon
_ECAT_Slave_User_Motion_Control_Get_Alm
17-2
Function name
EtherCAT Programming Guide
Description
Set the group status.
*Please note that before enabling the group, users
should apply Set_Motion_Control_Type to specify
the axis for one group and use
_ECAT_Slave_User_Motion_Control_ Svon and
_ECAT_Slave_User_Motion_Control_Get_Alm to
confirm the status of each axis.
Acquire the status in the current group.
Set the motion mode in the specified group.
Set the data of each axis in the specified group.
Clear the data of each axis in the specified group.
Read the data number that have not been
processed in the specified group.
Reset the alarm of all axes in the specified group.
Enable/disable all axes in the specified group.
Acquire the current alarm status in the specified
group.
March, 2017