Delta EtherCAT User Manual

EtherCAT Programming Guide Profile Position Mode (PP)
March, 2017 13-5
13
Name Data type Property Description
refer to the manual of the slave device for more
details. (OD: 0x607D Sub 1)
Max_Soft_Limit I32 Inc
Set the maximum range for absolute movement
inc signifies the unit set in the slave device. Please
refer to the manual of the slave device for more
details. (OD: 0x607D Sub 2)

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0, SetBit=0x07;
//Set End_Vel, Min_Range_Limit&Max_Range_Limit
I32 End_Vel =50, Min_Range_Limit =1, Max_Range_Limit =200;
I32 Min_Soft_Limit= 2, Max_Soft_Limit=180;
Status = _ECAT_Slave_PP_Advance_Config(CardNo, AxisNo, SlotNo, SetBit, End_Vel,
Min_Range_Limit, Max_Range_Limit, Min_Soft_Limit, Max_Soft_Limit);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English