Delta EtherCAT Programming Manual page 184

EtherCAT Programming Guide
9.2 _ECAT_Slave_CSP_Start_V_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_V_Move (U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 Dir, I32 Strvel, I32 MaxVel, F64 Tacc, U16 Scurve)

Purpose
This is for executing the single-axis motion with constant speed.

Parameter
Name
CardNo
AxisNo
SlotNo
Dir
Strvel
MaxVel
Tacc
Scurve

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 Dir=1, Strvel=0, MaxVel=2000000;
F64 Tacc =0.1;
U16 Scurve=0, Abs_Rel=1;
Status = _ECAT_Slave_CSP_Start_V_Move (CardNo, AxisNo, SlotNo, Dir, Strvel,
MaxVel, Tacc, Scurve, Abs_Rel);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
U16 Option
I32 Pulse / second
I32 Pulse / second
F64 Time (second)
U16 Option
Cyclic Synchronous Position Mode (CSP)
Description
Card No.
Node ID
Slot ID
Moving direction
0: Forward
1: Reverse
Parameter of initial speed
Parameter of the constant speed
Acceleration time
0: T-curve(Default)
2: S-curve
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