Ecat_Slave_Csp_Pitch_Set_Rel_Table - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.35 _ECAT_Slave_CSP_Pitch_Set_Rel_Table


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Pitch_Set_Rel_Table(U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 Dir, I32* Table, U16 Num)

Purpose
This is for setting the relative position of each interval for pitch error compensation.

Parameter
Name
CardNo
AxisNo
SlotNo
Dir
Table
Num

Example
U16 Status;
U16 CardNo = 16, AxisNo=0, SlotNo=0, Dir=0;
I32 Table[3] = {0, 1, 2};
Status = _ECAT_Slave_CSP_Pitch_Set_Rel_Table (CardNo, AxisNo, SlotNo, Dir, &Table,
Num);
9-58
Data type Property
U16 Number
U16 Number
U16 Number
U16 Option
I32* Array
U16 Value
Description
Card No.
Node ID
Slot ID
It sets the compensation value in positive/negative
direction.
0: Set the compensation value for positive direction
1: Set the compensation value for negative direction
Compensation array of each interval (relative position)
Amount in the compensation array. Max. value: 10000
EtherCAT Programming Guide
March, 2017