Ecat_Slave_Csp_Start_Multiaxes_Move - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.10 _ECAT_Slave_CSP_Start_Multiaxes_Move


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Start_Multiaxes_Move (U16 CardNo, U16 AxisNum,
U16 *AxisArray, U16 *SlotArray, I32 *DistArray, I32 Strvel, I32 ConstVel, I32 EndVel,
F64 TPhase1, F64 TPhase2, U16 Scurve, U16 Abs_Rel)

Purpose
This is for executing multi-axis linear motion.

Parameter
Name
CardNo
AxisNum
AxisArray
SlotArray
DistArrary
Strvel
ConstVel
EndVel
TPhase1
TPhase2
Scurve
Abs_Rel
9-20
Data type Property
U16 Number
U16 Quantity
Array for each
U16*
axis
Array for each
U16*
slot
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
Description
Card number
The engaged axis number. Please refer to Secion 2.1
for the maximun value.
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
Array of the moving distance for each axis; the array
number should equal to the axis number
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
EtherCAT Programming Guide
March, 2017