Ecat_Slave_Csp_Sync_Config - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.23 _ECAT_Slave_CSP_Sync_Config


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Sync_Config(U16 CardNo, U16 AxisNum, U16 *AxisArray,
U16 *SlotArray, U16 Enable)

Purpose
This is for setting the function of synchronous motion of multiple axes. The function allows the
EtherCAT master issue up to 20 CSP motion commands at the same time.
Note:
1. When some commands are issued to the the same axis, they will be executed according to the issuing
sequence.
2. Before starting the synchronous motion control, users should complete the setting of this API to enable
the function and issue the CSP motion commands one by one. Then, apply the API
"_ECAT_Slave_CSP_Sync_Move" to start executing all CSP commands.

Example
Name
CardNo
AxisNum
AxisArray
SlotArray
Enable

Example
U16 Status;
U16 CardNo = 16, AxisNum = 2, AxisArray[2] = {0, 1}, SlotArray[2] = {0, 0};
U16 Enable = 1;
Status = _ECAT_Slave_CSP_Sync_Config (CardNo, AxisNum, AxisArray, SlotArray,
Enable);
9-42
Data type Property
U16 Number
U16 Quantity
Array for each
U16*
axis
Array for each
U16*
slot
U16 Option
EtherCAT Programming Guide
Description
Card No.
Axis number to be enabled
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
Function of synchronous motion of multiple axes
0: Disable
1: Enable
March, 2017