Delta EtherCAT

Inverter Motion Control EtherCAT Programming Guide
15-2 March, 2017
15
API list of inverter motion control
Function name Description
_ECAT_Slave_VL_Start_Move
Inverter single-axis motion control with constant speed.
(Only applicable to Delta inverter)
15.1 _ECAT_Slave_VL_Start_Move

Syntax
U16 PASCAL _ECAT_Slave_VL_Start_Move (U16 CardNo, U16 AxisNo, U16 SlotNo, I32
TargetVel, U32 Acceleration, U32 Deceleration)

Purpose
This is for executing Delta inverter single-axis motion control with constant speed.

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/sec)
inc signifies the unit set in the slave. Please refer to the
user manual of the applied slave device. (OD : 0x6042
Sub 0)
Acceleration U32 inc/s^2
Acceleration
inc signifies the unit set in the slave. Please refer to the
user manual of the applied slave device. (OD: 0x604F
Sub 0)
Deceleration U32 inc/s^2
Deceleration
inc signifies the unit set in the slave. Please refer to the
user manual of the applied slave device. (OD: 0x6050
Sub 0)

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
I32 TargetVel=300;
F64 Acceleration=50, Deceleration=50;
Status=_ECAT_Slave_VL_Start_Move (CardNo, AxisNo, SlotNo, TargetVel, Acceleration,
Deceleration);