Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-45
9
Name Data type Property Description
Target2Point I32*
Array of pulse
for each axis
End point; the array number should equal to the axis
number
Target2Point[0] stores the first point of the first axis.
Target2Point[1] stores the first point of the second
axis
….
StrVel I32 Pulse / second Parameter of the motion initial speed
First_ConstVel I32 Pulse / second
The constant speed from the start position to
Target1Point
Second_ConstVel I32 Pulse / second
The constant speed from the Target1Point to
Target2Point
EndVel I32 Pulse / second Parameter of the motion end speed
Tacc_Step1 F64 Time (second) The time it spent to change from First_ConstVel to 0
Tacc_Step2 F64 Time (second)
The time it spent to change from Second_ConstVel to
0
Abs_Rel U16 Option
0: Relative movement (Default)
1: Absolute movement

Example
U16 Status;
U16 CardNo = 16, AxisNum = 2, AxisArray[2] = {0, 1}, SlotArray[2] = {0, 0};
I32 Target1Point[2] = {20000, 40000};
I32 Target2Point[2] = {40000, 80000};
I32 StrVel = 0, First_ConstVel = 100000, Second_ConstVel = 200000, EndVel = 0;
F64 Tacc_Step1 = 0.1, TaccStep2 = 0.1;
U16 Abs_Rel = 1;
Status = _ECAT_Slave_CSP_Start_Mabrline_Move (CardNo, AxisNum, AxisArray,
SlotArray, Target1Point, Target2Point, StrVel, First_ConstVel, Second_ConstVel, EndVel,
Tacc_Step1, Tacc_Step2, Abs_Rel);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English