Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-7
9
9.2 _ECAT_Slave_CSP_Start_V_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_V_Move (U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 Dir, I32 Strvel, I32 MaxVel, F64 Tacc, U16 Scurve)

Purpose
This is for executing the single-axis motion with constant speed.

Parameter
Name Data type Property Description
CardNo U16 Number
Card No.
AxisNo U16 Number
Node ID
SlotNo U16 Number
Slot ID
Dir U16 Option
Moving direction
0: Forward
1: Reverse
Strvel I32 Pulse / second
Parameter of initial speed
MaxVel I32 Pulse / second
Parameter of the constant speed
Tacc F64 Time (second)
Acceleration time
Scurve U16 Option
0: T-curve(Default)
2: S-curve

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 Dir=1, Strvel=0, MaxVel=2000000;
F64 Tacc =0.1;
U16 Scurve=0, Abs_Rel=1;
Status = _ECAT_Slave_CSP_Start_V_Move (CardNo, AxisNo, SlotNo, Dir, Strvel,
MaxVel, Tacc, Scurve, Abs_Rel);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English