Delta EtherCAT User Manual

General Operation of Motion Axis EtherCAT Programming Guide
8-10 March, 2017
8
8.8 _ECAT_Slave_Motion_Set_MoveMode
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Syntax
U16 PASCAL _ECAT_Slave_Motion_Set_MoveMode(U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 MoveMode)

Purpose
This is for setting the motion mode of the axis.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
MoveMode U16 Mode
Motion mode of the axis
0: Idle mode
1: Profile Position (PP) mode
2. Velocity mode
3: Profile Velocity (PV) mode
4: Profile Torque (PT) mode
6: Home mode
7: Interpolated Position (IP)
8: Cyclic Synchronous Position (CSP) mode
9: Cyclic Synchronous Velocity (CSV) mode
10: Cyclic Synchronous Torque (CST) mode

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0, MoveMode=1;
Status = _ECAT_Slave_Motion_Set_MoveMode(CardNo, AxisNo, SlotNo, MoveMode);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English