Ecat_Slave_Csp_Start_Spiral2_Move - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

Example
U16 Status;
U16 CardNo=0, AxisNo[2]={1,2}, SlotID[2]={0, 0}, Scurve =0, Abs_Rel =0;
I32 CenterPoint[2] ={50000,50000}, Spiral_Interval = 5000;
I32 StrVel=0, ConstVel =50000, EndVel=20000;
F64 Angel, TPhase1 = 0.2, TPhase2 = 0.1;
Status = _ECAT_Slave_CSP_Start_Spiral_Move(CardNo, AxisNo, SlotID, CenterPoint,
Spiral_Interval, Angle , StrVel, ConstVel, EndVel, TPhase1, TPhase2, Scurve, Abs_Rel);

9.7 _ECAT_Slave_CSP_Start_Spiral2_Move


Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Spiral2_Move(U16 CardNo, U16 *AxisNo,
U16 *SlotNo, I32 *CenterPoint, I32 EndPoint, U16 Dir, U16 CycleNum, 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 the end point with the specified cycle number.

Parameter
Name
CardNo
AxisNo
SlotNo
CenterPoint
EndPoint
Dir
CycleNum
Strvel
March, 2017
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
U16 Number
I32 Pulse / second
Cyclic Synchronous Position Mode (CSP)
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); the array number should
equal to the axis number
Circle center
End point
Moving direction of spiral motion
0: Clockwise
1: Counterclockwise
Cycle number of spiral motion
Parameter of the motion initial speed
9
9-15