Delta EtherCAT

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-25
9
9.12 _ECAT_Slave_CSP_Set_Gear
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Syntax
U16 PASCAL _ECAT_Slave_CSP_Set_Gear(U16 CardNo, U16 AxisNo, U16 SlotNo,
I16 Nummerator, I16 Denominator, I16 Enable)
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Purpose
This is for setting the E-gear ratio.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Nummerator F64 Value Set the numerator of E-gear ratio
Denominator F64 Value Set the denominator of E-gear ratio
Enable I16 Option
0: Disable the function of E-gear
1: Enable the function of E-gear

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I16Enable=1;
F64 Nummerator=1.0, Denominator=2.0;
Status = _ECAT_Slave_CSP_Set_Gear(CardNo, AxisNo, SlotNo, Nummerator,
Denominator, Enable);