Delta EtherCAT Programming Manual page 226

EtherCAT Programming Guide

Example
U16 Status;
U16 CardNo=16, NodeID=7, SlotID=0;
I32 DataCnt=3, TargetPos[3]={0, 20000, 30000}, TargetTime[3]={0, 1000, 2000},
TargetVel[3]={0,11000, 0};
Status = _ECAT_Slave_CSP_Start_PVT_Move (CardNo, NodeID, SlotID, DataCnt,
TargetPos, TargetTime, TargetVel);
March, 2017
Cyclic Synchronous Position Mode (CSP)
9
9-49