Delta EtherCAT User Manual

Profile Torque Mode (PT) EtherCAT Programming Guide
16-4 March, 2017
16
16.2 _ECAT_Slave_PT_Advance_Config

Syntax
U16 PASCAL _ECAT_Slave_PT_Advance_Config (U16 CardNo, U16 AxisNo, U16 SlotNo, U16
SetBit, U16 Max_Current, I16 Torque_Profile)

Purpose
This is for the advanced setting of PT 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 bit setting:
Bit 0 → Max_Current
Bit 1 → Torque_Profile
Max_Current U16 Permillage
0.1% of the maximum rated torque, which setting range
is 1 ~ 1000.
Torque_Profile I16 Option
0: Linear change
1: Sine wave change

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
U16 Max_Current=200, SetBit=0, Torque_Profile=0;
Status=_ECAT_Slave_PT_Advance_Config (CardNo, AxisNo, SlotNo, Max_Current,
Torque_Profile);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English