Delta EtherCAT

EtherCAT Programming Guide Profile Velocity Mode (PV)
March, 2017 14-3
14
14.1 _ECAT_Slave_PV_Start_Move
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Syntax
U16 PASCAL _ECAT_Slave_PV_Start_Move (U16 CardNo, U16 AxisNo, U16 SlotNo,
I32 TargetVel, U32 Acceleration, U32 Deceleration)
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Purpose
This is for executing the single-axis motion with constant speed in PV mode.
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Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
TargetVel I32 inc/s
Target speed
inc signifies the unit set in the slave device. Please refer
to the manual of the slave device for more details. (OD:
0x60FF Sub 0)
Acceleration U32 inc/s^2
Acceleration speed
inc signifies the unit set in the slave device. Please refer
to the manual of the slave device for more details. (OD:
0x6083 Sub 0)
Deceleration U32 inc/s^2
Deceleration speed
inc signifies the unit set in the slave device. Please refer
to the manual of the slave device for more details. (OD:
0x6084 Sub 0)
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Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
I32 TargetVel=300;
F64 Acceleration=5, Deceleration=5;
Status=_ECAT_Slave_PV_Start_Move (CardNo, AxisNo, SlotNo, TargetVel, Acceleration,
Deceleration);