Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-5
9
9.1 _ECAT_Slave_CSP_Start_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Move(U16 CardNo, U16 AxisNo, U16 SlotNo,
I32 Dist, I32 Strvel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 Scurve,
U16 Abs_Rel)

Purpose
This is for executing linear interpolation of single axis.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Dist I32 Pulse The specified moving distance
StrVel I32 Pulse / second The initial speed of the motion
ConstVel I32 Pulse / second The constant speed of the motion
EndVel I32 Pulse / second The end speed of the motion
TPhase1 F64 Second
Duration to change from initial speed to constant
speed
TPhase2 F64 Second Duration to change from constant speed to end speed
Scurve U16 Option
0: T-curve(Default)
2: S-curve
Abs_Rel U16 Option
0: Relative movement (Default)
1: Absolute movement

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
I32 Dist=12000000, Strvel=0, ConstVel =2000000, EndVel=0;
F64 TPhase1=0.1, TPhase2=0.1;
U16 Scurve=0, Abs_Rel=1;
Status = _ECAT_Slave_CSP_Start_Move (CardNo, AxisNo, SlotNo, Dist, Strvel, ConstVel,
EndVel, Tacc, Tdec, Scurve, Abs_Rel);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English