Delta EtherCAT

EtherCAT Programming Guide Profile Torque Mode (PT)
March, 2017 16-3
16
16.1 _ECAT_Slave_PT_Start_Move
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Syntax
U16 PASCAL _ECAT_Slave_PT_Start_Move (U16 CardNo, U16 AxisNo, U16 SlotNo,
I16 Target_Torque, U32 Slope, I16 Torque_Profile)
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Purpose
This is for executing the single-axis motion with constant torque in PT mode.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Target_Torque I16 Permillage
0.1% of the maximum rated torque, which setting range
is 1 ~ 1000.
Slope U32 0.1% / s The torque’s rising slope; 0.1% per second.
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Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
I16 Target_Torque=2;
U32 Slope=10;
Status=_ECAT_Slave_PT_Start_Move (CardNo, AxisNo, SlotNo, Target_Torque, Slope);