Ecat_Slave_Csp_Start_Spiral_Move - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.6 _ECAT_Slave_CSP_Start_Spiral_Move


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Start_Spiral_Move(U16 CardNo, U16 *AxisNo,
U16 *SlotNo, I32 *CenterPoint, I32 Spiral_Interval, F64 Angle, I32 StrVel, I32 ConstVel,
I32 EndVel, F64 TPhase1, F64 TPhase2, U16 Scurve, U16 Abs_Rel)

Purpose
This is for executing two-axis spiral motion, moving from current position and the specified circle
center to form the specified angle.

Parameter
Name
CardNo
AxisNo
SlotNo
CenterPoint
Spiral_Interval
Angle
Strvel
ConstVel
EndVel
TPhase1
TPhase2
Scurve
Abs_Rel

9-14
Data type Property
U16 Number
Array for each
U16*
axis
U16* Array for each
slot
I32* Array of pulse
for each axis
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
EtherCAT Programming Guide
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
Sprial pitch
When the value > 0, it means the spiral rotates in
outward direction.
When the value < 0, it means the spiral rotates in
inward direction.
Rotation angle of the spiral motion (360 degrees for 1
cycle)
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
March, 2017