Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-55
9
9.32 _ECAT_Slave_CSP_Pitch_Set_Interval

Syntax
U16 PASCAL _ECAT_Slave_CSP_Pitch_Set_Interval(U16 CardNo, U16 AxisNo,
U16 Slot No, I32 Interval)

Purpose
This is for setting the interval of the pitch error compensation.
EtherCAT master executes the position compensation with the set interval, so that the machine
moves in the correct coordinates system.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Interval I32 Value It sets the pulse for compensation interval

Example
U16 Status;
U16 CardNo = 16, AxisNo=0, SlotNo=0, Interval=0
Status = _ECAT_Slave_CSP_Pitch_Set_Interval(CardNo, AxisNo, SlotNo, Interval);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English