Ecat_Slave_Csp_Start_Arc2_Move - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.4 _ECAT_Slave_CSP_Start_Arc2_Move


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Start_Arc2_Move(U16 CardNo, U16 *AxisNo,
U16 *SlotNo,I32 *EndPoint, F64 Angle, I32 Strvel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64
TPhase2, U16 Scurve, U16 Abs_Rel)

Purpose
This is for executing two-axis arc motion, regarding the speicify angle from the current position
as the included angle and moving to the specified end point.

Parameter
Name
CardNo
AxisNo
SlotNo
EndPoint
Angle
Strvel
ConstVel
EndVel
TPhase1
TPhase2
Scurve
Abs_Rel
9-10
Data type Property
U16 Number
Array for each
U16*
axis
Array for each
U16*
slot
Array of pulse
I32*
for each axis
F64 Angle (°)
I32
Pulse / second
I32
Pulse / second
I32 Pulse / second
F64 Time (second)
F64 Time (second)
U16 Option
U16 Option
Description
Card No.
Array for each axis (node ID); the array number should
equal to the axis number
AxisNo Array[0] stores the first node
AxisNo Array[1] stores the second node
Array for each axis (slot ID)
End point
Set the angle of an arc.
When the angle > 0, it means the arc motion will be
carried out in clockwise direction.
When the angle < 0, it means the arc motion will be
carried out in counterclockwise direction.
Parameter of the motion initial speed
Parameter of the motion constant speed
Parameter of the motion end speed
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
EtherCAT Programming Guide
March, 2017