Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-4 March, 2017
9
Function name Description
_ECAT_Slave_CSP_Mask_Axis
When multi-axis command is being executed, this
API can be used to stop the specified axes without
influencing others.
_ECAT_Slave_CSP_Sync_Config
Set the function of synchronous motion of multiple
axes
_ECAT_Slave_CSP_Sync_Move
Enable the function of synchronous motion of
multiple axes
_ECAT_Slave_CSP_Start_Mabrline_Move
Set to smooth the operation of point-to-point
motion of multiple axes
_ECAT_Slave_CSP_Start_2Segment_Move
Set the single-axis linear motion by specifying two
distances and speed
_ECAT_Slave_CSP_Start_PVT_Move
Set the single-axis motion to move to multiple
points at fixed time
_ECAT_Slave_CSP_Start_PVTComplete_Move
Specify the initial speed and end speed of the
single-axis motion, moving through multiple points
at fixed time.
_ECAT_Slave_CSP_Virtual_Set_Enable Enable function of virtual position
_ECAT_Slave_CSP_Virtual_Set_Command
Set the virtual position and replacing the current
position with the specified position
_ECAT_Slave_CSP_Get_SoftLimit_Status Acquire the status of software limit
_ECAT_Slave_CSP_Pitch_Set_Interval Set the interval of the pitch error compensation
_ECAT_Slave_CSP_Pitch_Set_Mode Set the mode of pitch error compensation
_ECAT_Slave_CSP_Pitch_Set_Org Set the start position of pitch error compensation.
_ECAT_Slave_CSP_Pitch_Set_Rel_Table
Set the relative position of each interval for pitch
error compensation
_ECAT_Slave_CSP_Pitch_Set_Abs_Table
Set the absolute position of each interval for pitch
error compensation
_ECAT_Slave_CSP_Pitch_Set_Enable Enable function of pitch error compensation.

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English