Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-19
9
Name Data type Property Description
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

Example
U16 Status, CardNo=0, AxisNoArray[2]={1,2}, SlotID[2]={0, 0}, Dir=1, Scurve =0, Abs_Rel =0;
I32 CenterPoint[2]= {50000,50000}, Depth =10000, Pitch = 20000;
I32 StrVel=0, ConstVel =50000, EndVel=20000;
F64 TPhase1=0.2, TPhase2=0.1;
Status = _ECAT_Slave_CSP_Start_Heli_Move (CardNo, AxisNoArray, SlotID, CenterPoint ,
Depth, Pitch, Dir, Strvel, ConstVel, EndVel, TPhase1, TPhase2, Scurve, Abs_Rel);

Descirption
Figure 9.9.1 Moving from current position and the known circle center to the specified height in
Z-axis direction

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English