Ecat_Slave_Csp_Start_Pvt_Move - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)
9
Figure 9.26.3 Incorrect setting – The direction of the first moving distance is not the same as the

9.27 _ECAT_Slave_CSP_Start_PVT_Move


Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_PVT_Move (U16 CardNo, U16 NodeID, U16 SlotID, I32
DataCnt, I32 *TargetPos, I32 *TargetTime, I32 *TargetVel)

Purpose
This is for setting single-axis motion to move to multiple target points at fixed time.
The axis will move to the target positions (Max.: 8000) within the set time. And EtherCAT master
automatically calcaultes the acceleration and deceleration during operation.

Parameter
Name
CardNo
NodeID
SlotID
DataCnt
TargetPos
TargetTime
TargetVel
9-48
second moving distance.
Data type Property
U16 Number
U16 Number
U16 Number
I32 Amount
I32* Array of pulse
Array of
I32*
milisecond
Array of
I32*
velocity
Description
Card No.
Node ID
Slot ID
Number of target positions (Max. 8000)
Target position
Target time
Target speed (Unit: pulse / second)
EtherCAT Programming Guide
March, 2017