Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-10 March, 2017
9
9.4 _ECAT_Slave_CSP_Start_Arc2_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Arc2_Move(U16 CardNo, U16 *AxisNo,
U16 *SlotNo,I32 *EndPoint, F64 Angle, I32 Strvel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64
TPhase2, U16 Scurve, U16 Abs_Rel)

Purpose
This is for executing two-axis arc motion, regarding the speicify angle from the current position
as the included angle and moving to the specified end point.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16*
Array for each
axis
Array for each axis (node ID); the array number should
equal to the axis number
AxisNo Array[0] stores the first node
AxisNo Array[1] stores the second node
SlotNo U16*
Array for each
slot
Array for each axis (slot ID)
EndPoint I32*
Array of pulse
for each axis
End point
Angle F64 Angle (°)
Set the angle of an arc.
When the angle > 0, it means the arc motion will be
carried out in clockwise direction.
When the angle < 0, it means the arc motion will be
carried out in counterclockwise direction.
Strvel I32
Pulse / second
Parameter of the motion initial speed
ConstVel I32
Pulse / second
Parameter of the motion constant speed
EndVel I32 Pulse / second Parameter of the motion end speed
TPhase1 F64 Time (second)
Duration to change from initial speed to constant
speed
TPhase2 F64 Time (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

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English