Delta EtherCAT Programming Manual page 224

EtherCAT Programming Guide
U16 CardNo = 16, AxisNo=0, SlotNo=0, SegMode=0, Scurve=0, Abs_Rel=0;
I32 Dist=0, Dist2=0, StrVel=0, MaxVel=0, MaxVel2=0, EndVel=0;
F64 Tacc=0, Tsec=0, Tdec=0;
Status = _ECAT_Slave_CSP_Start_2Segment_Move (CardNo, AxisNo, SlotNo, SegMode,
Dist, Dist2, StrVel, MaxVel, MaxVel2, EndVel, Tacc, Tsec, Tdec, Scurve, Abs_Rel);

Description
When parameter SegMode is set to 0, the motion axis will start the 1
accelerates/decelerates to start the 2
(The gray section represents the first moving distance and the white section signifies the second moving
When parameter SegMode is set to 1, the motion axis accelerates/decelerates to start the 2
distance while the 1
(The gray section represents the first moving distance and the white section signifies the second
Note: Please note that when SegMode is set to 0, the direction of the first and second moving distance must
be the same. See the example of incorrect setting in figure
March, 2017
nd
distance.
Figure 9.26.1 Time-Velocity chart of relative motion
st
moving distance is not completed yet.
Figure 9.26.2 Time-Velocity chart of relative motion
moving distance)
Cyclic Synchronous Position Mode (CSP)
distance)
9.26.3
st
distance first and then
nd
9
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