Ecat_Slave_Csp_Start_Sphere_Move - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

9.8 _ECAT_Slave_CSP_Start_Sphere_Move


Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Sphere_Move (U16 CardNo, U16 *AxisNo,
U16 *SlotNo, I32 * Target1Point, I32 Target2Point, I32 StrVel, I32 ConstVel, I32 EndVel,
F64 TPhase1, F64 TPhase2, U16 Scurve, U16 Abs_Rel)

Purpose
This is for executing three-axis sphere motion, moving from current position and the known circle
center to the target position with three-dimensional vector.

Parameter
Name
CardNo
AxisNo
SlotNo
Target1Point
Target2Point
Strvel
ConstVel
EndVel
TPhase1
TPhase2
Scurve
Abs_Rel
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
I32 Pulse / second
I32 Pulse / second
I32 Pulse / second
F64 Time (second)
F64 Time (second)
U16 Option
U16 Option
Cyclic Synchronous Position Mode (CSP)
Description
Card number
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
AxisNo Array[2] stores the third node
Array for each axis (slot ID)
Target1Point[0] stores any point on X-axis in the arc
Target1Point[1] stores any point on Y-axis in the arc
Target1Point[2] stores any point on Z-axis in the arc
Target2Point[0] stores the end point of X-axis
Target2Point[1] stores the end point of Y-axis
Target2Point[2] stores the end point of Z-axis
Parameter of the motion initial speed
Parameter of the motion constant speed
Parameter of the motion end speed
The time is spend from initial speed to constant speed
This time is spend from constant speed to end speed
0: T-curve (Default)
2: S-curve
0: Relative movement (Default)
1: Absolute movement
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