Delta EtherCAT

Group Motion Control EtherCAT Programming Guide
17-2 March, 2017
17
List of Group Motion Control API
Function name Description
_ECAT_Slave_User_Motion_Control_Set_Enable_
Mode
Set the group status.
*Please note that before enabling the group, users
should apply Set_Motion_Control_Type to specify
the axis for one group and use
_ECAT_Slave_User_Motion_Control_ Svon and
_ECAT_Slave_User_Motion_Control_Get_Alm to
confirm the status of each axis.
_ECAT_Slave_User_Motion_Control_Get_Enable_
Mode
Acquire the status in the current group.
_ECAT_Slave_User_Motion_Control_Set_Type Set the motion mode in the specified group.
_ECAT_Slave_User_Motion_Control_Set_Data
Set the data of each axis in the specified group.
_ECAT_Slave_User_Motion_Control_Clear_Data
Clear the data of each axis in the specified group.
_ECAT_Slave_User_Motion_Control_Get_DataCnt
Read the data number that have not been
processed in the specified group.
_ECAT_Slave_User_Motion_Control_ Ralm
Reset the alarm of all axes in the specified group.
_ECAT_Slave_User_Motion_Control_ Svon
Enable/disable all axes in the specified group.
_ECAT_Slave_User_Motion_Control_Get_Alm
Acquire the current alarm status in the specified
group.