Cyclic Synchronous Position Mode (Csp) - Delta EtherCAT Programming Manual

Cyclic Synchronous
Position Mode (CSP)
This chapter explains the APIs used in CSP mode. Different from PP mode, EtherCAT
master issues one position command in each communication cycle. Thus, the motion
path is controlled by EtherCAT master. CSP mode proveds single-axis motion,
multi-axis interpolation and synchronous motion and advanced motion compensation.
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9.1 _ECAT_Slave_CSP_Start_Move ·························································· 9-5
9.2 _ECAT_Slave_CSP_Start_V_Move ······················································· 9-7
9.3 _ECAT_Slave_CSP_Start_Arc_Move ···················································· 9-8
9.4 _ECAT_Slave_CSP_Start_Arc2_Move ················································· 9-10
9.5 _ECAT_Slave_CSP_Start_Arc3_Move ················································· 9-12
9.6 _ECAT_Slave_CSP_Start_Spiral_Move ··············································· 9-14
9.7 _ECAT_Slave_CSP_Start_Spiral2_Move ·············································· 9-15
9.8 _ECAT_Slave_CSP_Start_Sphere_Move ············································· 9-17
9.9 _ECAT_Slave_CSP_Start_Heli_Move ·················································· 9-18
9.10 _ECAT_Slave_CSP_Start_Multiaxes_Move ········································· 9-20
9.11 _ECAT_Slave_CSP_Start_Msbrline_Move ·········································· 9-21
9.12 _ECAT_Slave_CSP_Set_Gear ························································· 9-25
9.13 _ECAT_Slave_CSP_Set_Softlimit ······················································· 9-26
9.14 _ECAT_Slave_CSP_TargetPos_Change ············································· 9-27
9.15 _ECAT_Slave_CSP_Velocity_Change ················································ 9-28
9.16 _ECAT_Slave_CSP_Feedrate_Overwrite ············································ 9-29
9.17 _ECAT_Slave_CSP_Speed_Continue_Enable ······································· 9-33
9.18 _ECAT_Slave_CSP_Speed_Continue_Set_Mode ··································· 9-34
9.19 _ECAT_Slave_CSP_Speed_Continue_Set_Combine_ Ratio ··················· 9-37
9.20 _ECAT_Slave_CSP_Scurve_Rate ······················································· 9-38
9.21 _ECAT_Slave_CSP_Liner_Speed_Master ············································· 9-39
9.22 _ECAT_Slave_CSP_Mask_Axis ························································ 9-41
9.23 _ECAT_Slave_CSP_Sync_Config ····················································· 9-42
9.24 _ECAT_Slave_CSP_Sync_Move ······················································ 9-43
9.25 _ECAT_Slave_CSP_Start_Mabrline_Move ·········································· 9-44
9.26 _ECAT_Slave_CSP_Start_2Segment_Move ········································ 9-46
9.27 _ECAT_Slave_CSP_Start_PVT_Move ··············································· 9-48
9.28 _ECAT_Slave_CSP_Start_PVTComplete_Move ··································· 9-50
March, 2017
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