Ecat_Slave_Csp_Start_Pvtcomplete_Move - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.28 _ECAT_Slave_CSP_Start_PVTComplete_Move


Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_PVTComplete_Move (U16 CardNo, U16 NodeID, U16
9
SlotID, I32 DataCnt, I32 *TargetPos, I32 *TargetTime, I32 StrVel, I32 EndVel);

Purpose
This is for specifying the initial speed and end speed of the single-axis motion, moving through
multiple points at fixed time.
This API function is similar to _ECAT_Slave_CSP_Start_PVT_Move. Users can use this API to
define the initial and end speed. And the axis will move to the target positions (Max.: 8000) within
the set times. Its acceleration and deceleration are calculated by the EtherCAT master.

Parameter
Name
CardNo
NodeID
SlotID
DataCnt
TargetPos
TargetTime
StrVel
EndVel
9-50
Data type Property
U16 Number
U16 Number
U16 Number
I32 Amount
I32* Array of pulse
Array of
I32*
milisecond
I32 Pulse / second
I32 Pulse / second
Description
Card No.
Node ID
Slot ID
Number of target positions (Max.: 8000)
Target position
Target time
Initial speed
End speed
EtherCAT Programming Guide
March, 2017