Delta EtherCAT User Manual

EtherCAT Programming Guide General Operation of Motion Axis
March, 2017 8-9
8
8.7 _ECAT_Slave_Motion_Set_Command

Syntax
U16 PASCAL _ECAT_Slave_Motion_Set_Command(U16 CardNo, U16 AxisNo, U16 SlotNo, I32
NewCommand)

Purpose
This is for setting the motion command data of the axis. The unit (property) of the data will vary
with the applying motion mode.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
NewCommand I32 Value
Acquire the current command information:
In CSP mode, the data is the current position.
In CSV mode, the data is the current speed.
In CST mode, the data is the permillage of current
torque.

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 NewCommand=3000000;
Status = _ECAT_Slave_Motion_Set_Command(CardNo, AxisNo, SlotNo, NewCommand);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English