Ecat_Slave_R1_Ec5614_Set_Mj_Config - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

33.1 _ECAT_Slave_R1_EC5614_Set_MJ_Config


Syntax
U16 PASCAL _ECAT_Slave_R1_EC5614_Set_MJ_Config (U16 CardNo, U16 MJNo,
U16 MJType, U16 NodeID, U16 SlotNo, U16 AxisNum, U16 *AxisArray, U16 *SlotArray,
I32 *MaxSpeedArray, F64 *TaccArray, F64 *RatioArray )

Purpose
This is for setting the parameters of MPG function.

Parameter
Name
CardNo
MJNo
MJType
NodeID
SlotNo
AxisNum
AxisArray
SlotArray
MaxSpeedArray
TaccArray
RatioArray

Example
U16 Status = 0, CardNo = 16, NodeID = 0, SlotNo = 0, AxisNum = 2, MJNo = 2, MJType= 1;
U16 Enable = 1;
U16 AxisArray[2] = {1, 2};
U16 SlotArray[2] = {0, 0};
I32 MaxSpeedArray[2] = {100000, 200000};
F64 TaccArray[2] = {0.1, 0.1};
F64 RatioArray[2] = {1, 1};
// Setting relevant parameters is required.
March, 2017
Data type Property
U16 Number
U16 Number
U16 Option
U16 Number
U16 Number
U16 Number
U16* Array of numbers
U16* Array of numbers
Array of speed
I32*
limit
Array of
F64*
acceleration time
Array of output
F64*
ratio
Description
Card number
Group number of MPG function. It supports
max. 8 groups, numbered from 0 to 7.
Setting of MPG mode :
0: JOG mode
1: Apply MPG (x1)
2: Apply MPG (x4)
Node ID
Slot ID
The axis number reqruied by MPG/JOG
(MPG: max. 6 axes; JOG: max. 2 axes)
Data array of node number for the axis
controlled by the MPG module.
Data array of slot number for the axis
controlled by the MPG module.
Data array of the max. speed for each axis.
(Unit: pps)
Data array of the max. acceleration for each
axis contolled by MPG module. (Unit:sec)
(The speed is set by parameter
MaxSpeedArray)
For MPG mode only. It sets the ratio of MPG's
pulse output.
MPG Operation
33
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