Delta EtherCAT

Profile Position Mode (PP) EtherCAT Programming Guide
13-4 March, 2017
13
Status = _ECAT_Slave_PP_Start_Move(CardNo, AxisNo, SlotNo, Dist, MaxVel, TAcc, TDec,
Abs_Rel);
13.2 _ECAT_Slave_PP_Advance_Config

Syntax
U16 PASCAL _ECAT_Slave_PP_Advance_Config(U16 CardNo, U16 AxisNo, U16 SlotNo,U16
SetBit, I32 End_Vel, I32 Min_Range_Limit, I32 Max_Range_Limit, I32 Min_Soft_Limit, I32
Max_Soft_Limit)

Purpose
This is for the advanced setting of PP mode.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
SetBit U16 Option
Enable the following parameters via the bit values:
Bit 0 → End_Vel
Bit 1 → Min_Range_Limit
Bit 2 → Max_Range_Limit
Bit 3 → Min_Soft_Limit
Bit 4 → Max_Soft_Limit
End_Vel I32 Inc / Sec
End velocity.
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more
details. (OD: 0x607A Sub 0)
Min_Range_Limit I32 Inc
Set the minimum range for relative movement.
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more
details. (OD: 0x607B Sub 1)
Max_Range_Limit I32 Inc
Set the maximum range for relative movement.
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more
details. (OD: 0x607B Sub 2)
Min_Soft_Limit I32 Inc
Set the minimum range for absolute movement.
inc signifies the unit set in the slave device. Please