Delta EtherCAT

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-51
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Example
U16 Status;
U16 CardNo=16, NodeID=7, SlotID=0;
I32 DataCnt=4, TargetPos[4]={0, 20000, 30000, 40000}, TargetTime[4]={0, 4000, 10000, 15000},
StrVel=10000, EndVel=0;
Status = _ECAT_Slave_CSP_Start_PVTComplete_Move (CardNo, NodeID, SlotID, DataCnt,
TargetPos, TargetTime, StrVel, EndVel);