Delta EtherCAT Programming Manual page 200

EtherCAT Programming Guide
Name
ArcAngle1
ArcAngle2
SpeedRatio
Strvel
ConstVel
EndVel
TPhase1
TPhase2
Scurve

Description
Figure 9.11.1 In this figure, the path is consisted of four _ECAT_Slave_CSP_Start_Msbrline_Move
March, 2017
Data type Property
F64 Angle (°)
F64 Angle (°)
F64 Value
I32 Pulse / second
I32 Pulse / second
I32 Pulse / second
F64 Time (second)
F64 Time (second)
U16 Option
commands and Mode is set to 0
Cyclic Synchronous Position Mode (CSP)
Description
adjust the value to the valid range. Please refer to
_ECAT_Slave_CSP_Speed_Continue_Set_Combine
_ Ratio (section 9.19) for the description when the
ratio is set to 100.
If M1 is the path of linear motion, this value will be
ignored.
If M1 is the path of arc motion, this value is the arc
angle.
If M2 is the path of linear motion, this value will be
ignored.
If M2 is the path of arc motion, this value is the arc
angle.
Speed ratio of M1 and M2, which is
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
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