Delta EtherCAT

EtherCAT Programming Guide EtherCAT Operation Example
March, 2017 3-35
3
See the figure below:
Figure 3.6.2.11
(24) Select Line3 for three-axis linear motion
Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:
RetCode = _ECAT_Slave_CSP_Start_Multiaxes_Move(gESCCardNo, 3, gNodeID,
gSlotID, Dist, StrVel, MaxVel, EndVel, Tacc, Tdec, gbIsSCurve, gbIsABS);
// gblsSCurve
// 1: T-Curve
// 2: S-Curve
// gblsABS
// 0: Relative movement
// 1: Absolute movement.
(25) Select Sphere for three-axis sphere motion
Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:
RetCode = _ECAT_Slave_CSP_Start_Sphere_Move(gESCCardNo, gNodeID, gSlotID,
Dist, Dist2, StrVel, ConstVel, EndVel, Tacc, Tdec, gbIsSCurve, gbIsABS);
// gblsSCurve
// 1: T-Curve
// 2: S-Curve
// gblsABS
// 0: Relative movement
// 1: Absolute movement.