Delta EtherCAT User Manual

EtherCAT Operation Example EtherCAT Programming Guide
3-26 March, 2017
3
(10) Select Continue for motion control with constant speed
Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:
RetCode = _ECAT_Slave_CSP_Start_V_Move(gESCCardNo, gNodeID[0], gSlotID[0], 0,
StrVel, MaxVel, Tacc, gbIsSCurve);
// gblsSCurve
// 1: T-Curve
// 2: S-Curve
(11) Two-axis motion mode (Line2, Spiral, Spiral2) and its settings
Figure 3.6.2.8
Line2 parameter settings: Two-axis linear interpolation
Dist1: Input the moving distance of axis X. The parameter “DistX” in the API function.
Dist2: Input the moving distance of axis Y. The parameter “DistY” in the API function.
StrVel.: Input the initial speed. The parameter “StrVel” in the API function.
ConstVel: Input the constant speed. The parameter “ConstVel” in the API function.
EndVel: Input the end speed when it reaches the target position. The parameter “EndVel”
in the API function.
TPhase1: Input the duration from initial speed to constant speed. The parameter
“TPhase1” in the API function.
TPhase2: Input the duration from constant speed to end speed. The parameter “TPhase2”
in the API function.
S-Curve: Check this box to use S-Curve for the speed curve. Otherwise, it will use
T-Curve.
ABS.: Check this box to have the motion conducted according to absolute coordinates set
in Dist.

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English