Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-41
9
9.22 _ECAT_Slave_CSP_Mask_Axis

Syntax
U16 PASCAL _ECAT_Slave_CSP_Mask_Axis(U16 CardNo , U16 AxisNo , U16 SlotNo ,
U16 Mode)

Purpose
When multi-axis motion command is being executed, this API can be used to stop the specified
axes without influencing others.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNum U16 Quantity Axis No. to be stopped
AxisArray U16*
Array for each
axis
Array for each axis (node ID); the array number should
equal to the axis number
AxisNo Array[0] stores the first node
AxisNo Array[1] stores the second node
….
SlotArray U16*
Array for each
slot
Array for each axis (slot ID); the array number should
equal to AxisNum

Example
U16 Status;
U16 CardNo=0, MoveAxisNum =3, MoveAxisArray[3]={1,2, 3}, MoveSlotArray[3]={0, 0, 0};
U16 StopAxisNum = 2, StopAxisArray[2]={2, 3}, StopSlotArray[2]={0, 0};
I32 DistArrary[3]= {100000,200000, 300000}, StrVel=0, ConstVel =50000, EndVel=20000;
F64 TPhase1=0.2, TPhase2=0.1;
U16 Scurve =0, Abs_Rel =0;
Status = _ECAT_Slave_CSP_Start_Multiaxes_Move(CardNo, MoveAxisNum,
MoveAxisArray, MoveSlotArray, DistArrary, Strvel, ConstVel, EndVel, TPhase1, TPhase2,
Scurve, Abs_Rel);
Status = _ECAT_Slave_CSP_Mask_Axis(CardNo, StopAxisNum, StopAxisArray,
StopSlotArray)

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English