Ecat_Slave_Csp_Start_Arc3_Move - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.5 _ECAT_Slave_CSP_Start_Arc3_Move


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Start_Arc3_Move (U16 CardNo, U16 *AxisNo,
U16 *SlotNo,I32 *CenterPoint, I32 *EndPoint, U16 Dir, I32 StrVel, I32 ConstVel, I32 EndVel, F64
TPhase1, F64 TPhase2, U16 Scurve, U16 Abs_Rel)

Purpose
This is for executing two-axis arc motion, moving from the current position and specified circle
center to the specified end point.

Parameter
Name
CardNo
AxisNo
SlotNo
CenterPoint
EndPoint
Dir
StrVel
ConstVel
EndVel
TPhase1
TPhase2
Scurve
Abs_Rel
9-12
Data type Property
U16 Number
Array for each
U16*
axis
Array for each
U16*
slot
Array of pulse
I32*
for each axis
Array of pulse
I32*
for each axis
U16 Option
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)
Circle center
End point
Moving direction of the arc motion
0: Clockwise; 1: counterclockwise
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