Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-50 March, 2017
9
9.28 _ECAT_Slave_CSP_Start_PVTComplete_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_PVTComplete_Move (U16 CardNo, U16 NodeID, U16
SlotID, I32 DataCnt, I32 *TargetPos, I32 *TargetTime, I32 StrVel, I32 EndVel);

Purpose
This is for specifying the initial speed and end speed of the single-axis motion, moving through
multiple points at fixed time.
This API function is similar to _ECAT_Slave_CSP_Start_PVT_Move. Users can use this API to
define the initial and end speed. And the axis will move to the target positions (Max.: 8000) within
the set times. Its acceleration and deceleration are calculated by the EtherCAT master.

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
StrVel I32 Pulse / second Initial speed
EndVel I32 Pulse / second End speed

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English