Delta EtherCAT

Group Motion Control EtherCAT Programming Guide
17-4 March, 2017
17
for (int I = 0; i<100 ; i++)
{
Status = _ECAT_Slave_User_Motion_Control_Set_Data (CardNo, GroupNo, DataArray);
}
// Motion start
Mode =1;
Status =_ECAT_Slave_User_Motion_Control_Set_Enable_Mode (CardNo, GroupNo, Mode);
// Carry on issuing rest of the motion commands.
while (1)
{
Status = _ECAT_Slave_User_Motion_Control_Get_DataCnt (CardNo, GroupNo,
&Counter);
if (Counter<100)
{
// If you are using RTX version EtherCAT of Delta PAC, users can check up to 800
data.
Status = _ECAT_Slave_User_Motion_Control_Set_Data (CardNo, GroupNo,
DataArray);
}
else if (Counter==0)
{
Mode =0; // There is no command so function is disabled; exit the loop.
Status =_ECAT_Slave_User_Motion_Control_Set_Enable_Mode (CardNo, GroupNo,
Mode);
break;
}
}