Delta EtherCAT Programming Manual page 201

Cyclic Synchronous Position Mode (CSP)
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Example
U16 Status;
U16 CardNo=0, AxisNum =2, AxisArray [2]={1,2}, SlotArray [2]={0, 0}, ArcNodeBit = 0;
9
U16 Mode =1, Scurve =0, Abs_Rel =0;
I32 TargetPoint1 [2]= {100000,200000}, TargetPoint2 [2]= {100000,200000};
I32 StrVel=0, ConstVel =50000, EndVel=20000;
F64 Parameter = 2 , ArcAngle1 = 0, ArcAngle2 = 0, SpeedRatio = 1;
F64 TPhase1=0.2, TPhase2=0.1;
Status = _ECAT_Slave_CSP_Start_Msbrline_Move (CardNo, AxisNum, AxisArray,
SlotArray, ArcNodeBit, TargetPoint1, TargetPoint2, Mode, Parameter, ArcAngle1,
ArcAngle2, SpeedRatio, Strvel, ConstVel, EndVel, TPhase1, TPhase2, Scurve, Abs_Rel);
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EtherCAT Programming Guide
March, 2017