Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-17
9
9.8 _ECAT_Slave_CSP_Start_Sphere_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Sphere_Move (U16 CardNo, U16 *AxisNo,
U16 *SlotNo, I32 * Target1Point, I32 Target2Point, I32 StrVel, I32 ConstVel, I32 EndVel,
F64 TPhase1, F64 TPhase2, U16 Scurve, U16 Abs_Rel)

Purpose
This is for executing three-axis sphere motion, moving from current position and the known circle
center to the target position with three-dimensional vector.

Parameter
Name Data type Property Description
CardNo U16 Number Card number
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
AxisNo Array[2] stores the third node
SlotNo U16*
Array for each
slot
Array for each axis (slot ID)
Target1Point I32*
Array of pulse
for each axis
Target1Point[0] stores any point on X-axis in the arc
Target1Point[1] stores any point on Y-axis in the arc
Target1Point[2] stores any point on Z-axis in the arc
Target2Point I32*
Array of pulse
for each axis
Target2Point[0] stores the end point of X-axis
Target2Point[1] stores the end point of Y-axis
Target2Point[2] stores the end point of Z-axis
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) The time is spend from initial speed to constant speed
TPhase2 F64 Time (second) This time is spend 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