Ecat_Slave_Csp_Start_2Segment_Move - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.26 _ECAT_Slave_CSP_Start_2Segment_Move


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Start_2Segment_Move(U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 SegMode, I32 Dist, I32 Dist2, I32 StrVel, I32 MaxVel, I32 MaxVel2,
I32 EndVel, F64 Tacc, F64 Tsec, F64 Tdec, U16 Scurve, U16 Abs_Rel)

Purpose
This is for setting the single-axis linear motion by specifying two distances and speed.

Parameter
Name
CardNo
AxisNo
SlotNo
SegMode
Dist
Dist2
StrVel
MaxVel
MaxVel2
EndVel
Tacc
Tsec
Tdec
Scurve
Abs_Rel

Example
U16 Status;
9-46
Data type Property
U16 Number
U16 Number
U16 Number
U16 Option
I32 Pulse
I32 Pulse
I32 Pulse / second
I32 Pulse / second
I32 Pulse / second
I32 Pulse / second
F64 second
F64 second
F64 second
U16 Option
U16 Option
Description
Card No.
Axis ID
Slot ID
Segment mode:
0: The motion axis completes the 1
then accelerates/decelerates to start the 2
st
1: While the 1 distance is not completed, the motion
axis accelerates/decelerates to start the 2
st
The 1 moving distance
nd
The 2 moving distance
st
Initial speed for the 1 moving distance
The maximum speed for the 1
The maximum speed for the 2
nd
End speed for the 2 moving distance
st
Acceleration time of the 1
Acceleration/deceleration time when switching to travel
nd
the 2 moving distance
nd
Deceleration time of the 2
1: T-curve (default)
2: S-curve
0: Relative movement (default)
1: Absolute movement
EtherCAT Programming Guide
st
distance first and
nd
distance.
nd
distance.
st
moving distance
nd
moving distance
moving distance
moving distance
March, 2017