Delta EtherCAT Programming Manual page 290

EtherCAT Programming Guide

Example
U16 Status;
U16 CardNo=16, GroupNo=1, AxisNum=2, AxisNoArray[2]={1,2}, SlotNoArray[2]={0,0};
U16 Type=0;
U16 Mode=1;
Status=_ECAT_Slave_User_Motion_Control_Set_Type (CardNo, GroupNo, AxisNum,
AxisNoArray, SlotNoArray, Type);

Description
EtherCAT master provides 3 modes of group motion. See the description below:
When the mode is set to 0, users can use the functions described in section 17.4 ~ 17.9 to issue
the position command to be executed by the axis of the group in each communication cycle. By
doing so, the user-defined interpolation can be done. Please note that users have to set the
acceleration/deceleration and logic of interpolation because position commands in each cycle
are user-defined.
Apply API "ECAT_Slave_User_Motion_Control_Set_Data" (refer to section 17.4) and then use
"_ECAT_Slave_User_Motion_Control_Set_Enable_Mode" (section 17.1) to enable this function
so that the speed of filling the table content can keep up with the communication cycle time. In
this case, motion with continuous speed can be carried out.
When mode is set to 1 or 2, EtherCAT master will execute the CSP or CSV commands issued by
users in sequence. If the current command of any one of the grouped axes is not completed and
a new command is issued, the master will complete the current one first and then execute the
new one.
For example, if a motion command of the group's 2
master receives interpolation commands from the 1
the motion command of the 2
March, 2017
nd
axis is not completed and the EtherCAT
st
and 3
nd st
axis and then the 1 axis and the 3
Group Motion Control
rd
axis, the master will firstly execute
rd
axis.
17
17-7