Ecat_Slave_User_Motion_Control_Set_Type - Delta EtherCAT Programming Manual

Group Motion Control

17.3 _ECAT_Slave_User_Motion_Control_Set_Type


Syntax
17
U16 PASCAL_ECAT_Slave_User_Motion_Control_Set_Type (U16 CardNo, U16 GroupNo,
U16 AxisNum, U16 *AxisNo, U16 *SlotNo, U16 Type)

Purpose
This is for setting the motion mode of the group.

Parameter
Name
CardNo
GroupNo
AxisNum
AxisNo
SlotNo
Type
17-6
Data type Property
U16 Number
U16 Number
U16 Value
Array for
U16*
each axis
Array for
U16*
each slot
U16 Option
Description
Card No.
Group No.
Axis number in one group
Array for each axis (node ID); the array number should
equal to the axis number
AxisNo Array[0] stores the first node
AxisNo Array[1] stores the second node
....
Array for each axis (slot ID); the array number should
equal to the axis number
Description of each mode:
0: Mode for general motion command; When applying
this mode, users have to apply the motion commands
from other chapters. And the control axis of the
specified group will complete the command in
sequence.
1: User-defined path (CSP mode); When applying this
mode, users have to defined the path for each axis in
each EtherCAT communication cycle.
2: User-defined path (CSV mode); When applying this
mode, users have to specify the speed for each axis in
each EtherCAT communication cycle.
EtherCAT Programming Guide
March, 2017