Delta EtherCAT

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-27
9
9.14 _ECAT_Slave_CSP_TargetPos_Change

Syntax
U16 PASCAL _ECAT_Slave_CSP_TargetPos_Change (U16 CardNo, U16 AxisNo,
U16 SlotNo, I32 NewTargetCmd)

Purpose
This is for replacing the target position.
Note: This function is disabled during acceleration.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
NewTargetCmd I32 Pulse New target position

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
I32 NewTargetCmd =2000000;
Status=_ECAT_Slave_CSP_TargetPos_Change (CardNo, AxisNo, SlotNo, NewTargetCmd);