Ecat_Slave_Csp_Pitch_Set_Enable - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.37 _ECAT_Slave_CSP_Pitch_Set_Enable


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Pitch_Set_Enable(U16 CardNo, U16 AxisNo ,
U16 SlotNo, U16 Enable)

Purpose
This is for enabling the pitch error compensation.
EtherCAT master will carry out the compensation in accordance with the interval set by
_ECAT_Slave_CSP_Pitch_Set_Interval (section 9.32) and the relative position set by
_ECAT_Slave_CSP_Pitch_Set_Rel_Table (section 9.35) or the absolute position set by
_ECAT_Slave_CSP_Pitch_Set_Abs_Table (section 9.36).

Parameter
Name
CardNo
NodeID
SlotNo
BitNum

Example
U16 Status;
U16 CardNo = 16, AxisNo=0, SlotNo=0, Enable=1
Status = _ECAT_Slave_CSP_Pitch_Set_Enable(CardNo, AxisNo, SlotNo, Enable);
9-60
Data type Property
U16 Number
U16 Number
U16 Number
U16 Option
Description
Card No.
Node ID
Slot ID
Enable the function of pitch error compensation
0: Disable
1: Enable
EtherCAT Programming Guide
March, 2017