Delta EtherCAT Programming Manual page 222

EtherCAT Programming Guide
Name
Target2Point
StrVel
First_ConstVel
Second_ConstVel
EndVel
Tacc_Step1
Tacc_Step2
Abs_Rel

Example
U16 Status;
U16 CardNo = 16, AxisNum = 2, AxisArray[2] = {0, 1}, SlotArray[2] = {0, 0};
I32 Target1Point[2] = {20000, 40000};
I32 Target2Point[2] = {40000, 80000};
I32 StrVel = 0, First_ConstVel = 100000, Second_ConstVel = 200000, EndVel = 0;
F64 Tacc_Step1 = 0.1, TaccStep2 = 0.1;
U16 Abs_Rel = 1;
Status = _ECAT_Slave_CSP_Start_Mabrline_Move (CardNo, AxisNum, AxisArray,
SlotArray, Target1Point, Target2Point, StrVel, First_ConstVel, Second_ConstVel, EndVel,
Tacc_Step1, Tacc_Step2, Abs_Rel);
March, 2017
Data type Property
Array of pulse
I32*
for each axis
I32 Pulse / second
I32 Pulse / second
I32 Pulse / second
I32 Pulse / second
F64 Time (second)
F64 Time (second)
U16 Option
Cyclic Synchronous Position Mode (CSP)
Description
End point; the array number should equal to the axis
number
Target2Point[0] stores the first point of the first axis.
Target2Point[1] stores the first point of the second
axis
....
Parameter of the motion initial speed
The constant speed from the start position to
Target1Point
The constant speed from the Target1Point to
Target2Point
Parameter of the motion end speed
The time it spent to change from First_ConstVel to 0
The time it spent to change from Second_ConstVel to
0
0: Relative movement (Default)
1: Absolute movement
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