Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-57
9
9.34 _ECAT_Slave_CSP_Pitch_Set_Org

Syntax
U16 PASCAL _ECAT_Slave_CSP_Pitch_Set_Org(U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 Dir, I32 OrgPos)

Purpose
This is for setting the start position of pitch error compensation.
EtherCAT master starts to do the compensation when it reaches the start position.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Dir U16 Option
Set the start position in positive/ negative direction
0: The start position in positive direction
1: The start position in negative direction
OrgPos I32 Value Start position of pitch error compensation

Example
U16 Status;
U16 CardNo = 16, AxisNo=0, SlotNo=0, Dir=0;
I32 OrgPos=0;
Status = _ECAT_Slave_CSP_Pitch_Set_Org(CardNo, AxisNo, SlotNo, Dir, OrgPos);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English