Delta EtherCAT Programming Manual page 196

EtherCAT Programming Guide
Name
TPhase1
TPhase2
Scurve
Abs_Rel

Example
U16 Status, CardNo=0, AxisNoArray[2]={1,2}, SlotID[2]={0, 0}, Dir=1, Scurve =0, Abs_Rel =0;
I32 CenterPoint[2]= {50000,50000}, Depth =10000, Pitch = 20000;
I32 StrVel=0, ConstVel =50000, EndVel=20000;
F64 TPhase1=0.2, TPhase2=0.1;
Status = _ECAT_Slave_CSP_Start_Heli_Move (CardNo, AxisNoArray, SlotID, CenterPoint ,
Depth, Pitch, Dir, Strvel, ConstVel, EndVel, TPhase1, TPhase2, Scurve, Abs_Rel);

Descirption
Moving from current position and the known circle center to the specified height in
Figure 9.9.1
March, 2017
Data type Property
F64 Time (second)
F64 Time (second)
U16 Option
U16 Option
Z-axis direction
Cyclic Synchronous Position Mode (CSP)
Description
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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