Delta EtherCAT Programming Manual page 181

Cyclic Synchronous Position Mode (CSP)
_ECAT_Slave_CSP_Mask_Axis
9
_ECAT_Slave_CSP_Sync_Config
_ECAT_Slave_CSP_Sync_Move
_ECAT_Slave_CSP_Start_Mabrline_Move
_ECAT_Slave_CSP_Start_2Segment_Move
_ECAT_Slave_CSP_Start_PVT_Move
_ECAT_Slave_CSP_Start_PVTComplete_Move
_ECAT_Slave_CSP_Virtual_Set_Enable
_ECAT_Slave_CSP_Virtual_Set_Command
_ECAT_Slave_CSP_Get_SoftLimit_Status
_ECAT_Slave_CSP_Pitch_Set_Interval
_ECAT_Slave_CSP_Pitch_Set_Mode
_ECAT_Slave_CSP_Pitch_Set_Org
_ECAT_Slave_CSP_Pitch_Set_Rel_Table
_ECAT_Slave_CSP_Pitch_Set_Abs_Table
_ECAT_Slave_CSP_Pitch_Set_Enable
9-4
Function name
EtherCAT Programming Guide
Description
When multi-axis command is being executed, this
API can be used to stop the specified axes without
influencing others.
Set the function of synchronous motion of multiple
axes
Enable the function of synchronous motion of
multiple axes
Set to smooth the operation of point-to-point
motion of multiple axes
Set the single-axis linear motion by specifying two
distances and speed
Set the single-axis motion to move to multiple
points at fixed time
Specify the initial speed and end speed of the
single-axis motion, moving through multiple points
at fixed time.
Enable function of virtual position
Set the virtual position and replacing the current
position with the specified position
Acquire the status of software limit
Set the interval of the pitch error compensation
Set the mode of pitch error compensation
Set the start position of pitch error compensation.
Set the relative position of each interval for pitch
error compensation
Set the absolute position of each interval for pitch
error compensation
Enable function of pitch error compensation.
March, 2017