Delta EtherCAT Programming Manual page 199

Cyclic Synchronous Position Mode (CSP)
Name
9
TargetPoint1
TargetPoint2
Mode
Parameter
9-22
Data type Property
Array of pulse
I32*
for each axis
Array of pulse
I32*
for each axis
U16 Option
I32
Value
Description
TargetPoint2.
M1
16 Bits
0 0 0 0 0 0 1 1
2 1
Assuming that M1 is the path of arc motion executed by
axis 1 and 2, and M2 is the parth executed by axis 3 and
4, then the parameter value should be 0x030C.
If M1 is the path of linear motion and M2 is the path of
arc motion executed by axis 3 and 4, the parameter
value will be 0x000C.
Array of the first target position; the array number should
equal to the axis number
If M1 is the path of linear motion, please input the end
point.
If M1 is the path of arc motion, please input the arc's
circle center.
For other axes, please input the value which is identical
to the start position.
Array of the secondt target position; the array number
should equal to the axis number
If M2 is the path of linear motion, please input the end
point.
If M1 is the path of arc motion, please input the arc's
circle center.
For other axes, please input the value which is identical
to the first target position.
0: M1 and M2 are the paths of linear motion
1: M1 is the path of linear motion and M2 is the path of
arc motion
2: M1 is the path of arc motion and M2 is the path of
linear motion
3: M1 and M2 are the paths of arc motion
Position error of the moving distance
 Position error is defined as the shortest distance
between the actual motion path and target position.
 When this value is set to 0, it means it will not
decelerate when passing the first target position and
machine will vibrate.
 When this value is set too large, the system will
EtherCAT Programming Guide
M2
0 0 0 0 1 1 0 0
4 3 2 1 Node ID
March, 2017