Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-15
9

Example
U16 Status;
U16 CardNo=0, AxisNo[2]={1,2}, SlotID[2]={0, 0}, Scurve =0, Abs_Rel =0;
I32 CenterPoint[2] ={50000,50000}, Spiral_Interval = 5000;
I32 StrVel=0, ConstVel =50000, EndVel=20000;
F64 Angel, TPhase1 = 0.2, TPhase2 = 0.1;
Status = _ECAT_Slave_CSP_Start_Spiral_Move(CardNo, AxisNo, SlotID, CenterPoint,
Spiral_Interval, Angle , StrVel, ConstVel, EndVel, TPhase1, TPhase2, Scurve, Abs_Rel);
9.7 _ECAT_Slave_CSP_Start_Spiral2_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Spiral2_Move(U16 CardNo, U16 *AxisNo,
U16 *SlotNo, I32 *CenterPoint, I32 EndPoint, U16 Dir, U16 CycleNum, I32 StrVel,
I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 Scurve, U16 Abs_Rel)

Purpose
This is for executing two-axis spiral motion, moving from current position and the specified circle
center to the end point with the specified cycle number.

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); the array number should
equal to the axis number
CenterPoint I32*
Array of pulse
for each axis
Circle center
EndPoint I32*
Array of pulse
for each axis
End point
Dir U16 Option
Moving direction of spiral motion
0: Clockwise
1: Counterclockwise
CycleNum U16 Number Cycle number of spiral motion
Strvel I32 Pulse / second Parameter of the motion initial speed

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English