Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-48 March, 2017
9
Figure 9.26.3 Incorrect setting – The direction of the first moving distance is not the same as the
second moving distance.
9.27 _ECAT_Slave_CSP_Start_PVT_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_PVT_Move (U16 CardNo, U16 NodeID, U16 SlotID, I32
DataCnt, I32 *TargetPos, I32 *TargetTime, I32 *TargetVel)

Purpose
This is for setting single-axis motion to move to multiple target points at fixed time.
The axis will move to the target positions (Max.: 8000) within the set time. And EtherCAT master
automatically calcaultes the acceleration and deceleration during operation.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
NodeID U16 Number Node ID
SlotID U16 Number Slot ID
DataCnt I32 Amount Number of target positions (Max. 8000)
TargetPos I32* Array of pulse Target position
TargetTime I32*
Array of
milisecond
Target time
TargetVel I32*
Array of
velocity
Target speed (Unit: pulse / second)

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English