Ecat_Slave_Csp_Start_Mabrline_Move - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.25 _ECAT_Slave_CSP_Start_Mabrline_Move


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Start_Mabrline_Move (U16 CardNo, U16 AxisNum,
U16 *AxisArray, U16 *SlotArray, I32 *Target1Point, I32 *Target2Point, I32 StrVel,
I32 First_ConstVel, I32 Second_ConstVel, I32 EndVel, F64 Tacc_Step1, F64 Tacc_Step2,U16
Abs_Rel)

Purpose
This is for setting to smooth the operation of point-to-point motion of multiple axes.
Note:
1. This API function is similar to the API "_ECAT_Slave_CSP_Start_Msbrline_Move" (section 9.11). The
difference between them is that this API will automatically calculate the corner speed based on the set
accerlation and deceleration.
2. The corner speed of this API is identical to the API "_ECAT_Slave_CSP_Speed_Continue_Enable"
(section 9.17). However, it takes effect only in the path that is being executed by this API.

Parameter
Name
CardNo
AxisNum
AxisArray
SlotArray
Target1Point
9-44
Data type Property
U16 Number
U16 Quantity
Array for each
U16*
axis
Array for each
U16*
slot
Array of pulse
I32*
for each axis
EtherCAT Programming Guide
Description
Card No.
Axis number to be used for synchronous motion
control
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
First position; the array number should equal to the
axis number
Target1Point[0] stores the first point of the first axis.
Target1Point[1] stores the first point of the second
axis
....
March, 2017