Delta EtherCAT Programming Manual page 182

EtherCAT Programming Guide
9.1 _ECAT_Slave_CSP_Start_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Move(U16 CardNo, U16 AxisNo, U16 SlotNo,
I32 Dist, I32 Strvel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 Scurve,
U16 Abs_Rel)

Purpose
This is for executing linear interpolation of single axis.

Parameter
Name
CardNo
AxisNo
SlotNo
Dist
StrVel
ConstVel
EndVel
TPhase1
TPhase2
Scurve
Abs_Rel

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
I32 Dist=12000000, Strvel=0, ConstVel =2000000, EndVel=0;
F64 TPhase1=0.1, TPhase2=0.1;
U16 Scurve=0, Abs_Rel=1;
Status = _ECAT_Slave_CSP_Start_Move (CardNo, AxisNo, SlotNo, Dist, Strvel, ConstVel,
EndVel, Tacc, Tdec, Scurve, Abs_Rel);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
I32 Pulse
I32 Pulse / second
I32 Pulse / second
I32 Pulse / second
F64 Second
F64 Second
U16 Option
U16 Option
Cyclic Synchronous Position Mode (CSP)
Description
Card No.
Node ID
Slot ID
The specified moving distance
The initial speed of the motion
The constant speed of the motion
The end speed of the motion
Duration to change from initial speed to constant
speed
Duration to change from constant speed to end speed
0: T-curve(Default)
2: S-curve
0: Relative movement (Default)
1: Absolute movement
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