Delta EtherCAT Programming Manual page 193

Cyclic Synchronous Position Mode (CSP)
Name
ConstVel
EndVel
9
TPhase1
TPhase2
Scurve
Abs_Rel

Example
U16 Status, CardNo=0, AxisNo[2]={1,2}, SlotID[2]={0, 0},Dir=0, Scurve =0, Abs_Rel =0,
U16 CycleNum=2;
I32 CenterPoint[2] ={50000,50000}, EndPoint [2] ={60000,100000};
I32 StrVel=0, ConstVel =50000, EndVel=20000;
F64 TPhase1=0.2, TPhase2=0.1;
Status = _ECAT_Slave_CSP_Start_Spiral2_Move(CardNo, AxisNo, SlotID, CenterPoint,
EndPoint, Dir, CycleNum, StrVel, ConstVel, EndVel, TPhase1, TPhase2, Scurve, Abs_Rel);
9-16
Data type Property
I32 Pulse r / second
I32 Pulse / second
F64 Time (second)
F64 Time (second)
U16 Option
U16 Option
EtherCAT Programming Guide
Description
Parameter of the motion constant speed
Parameter of the motion end speed
The time it takes to change from initial speed to
constant speed
This time it takes to change from constant speed to
end speed
0: T-curve(Default)
2: S-curve
0: Relative movement (Default)
1: Absolute movement
March, 2017