Ecat_Slave_Csv_Start_Move - Delta EtherCAT Programming Manual

Cyclic Synchronous Velocity Mode (CSV)
In CSV (Cyclic Synchronous Velocity) mode, it issues the speed command via PDO
communication. EtherCAT master will calculate all speed commands for the next communication
cycle after analyzing the speed and acceleration set in the API. Then, it sends the new command
10
to all motion axes every communication cycle so that single axis or multiple axes can operate
with the setting speed.
API list of CSV mode

_ECAT_Slave_CSV_Start_Move

_ECAT_Slave_CSV_Multi_Start_Move
10.1 _ECAT_Slave_CSV_Start_Move

Syntax
U16 PASCAL _ECAT_Slave_CSV_Start_Move (U16 CardNo, U16 AxisNo, U16 SlotNo,I32
Target_Velocity, F64 Acceleration, U16 Curve_Mode, U16 Acc_Type)

Purpose
This is for single-axis motion control with the setting speed.

Parameter
Name
CardNo
AxisNo
SlotNo
Target_Velocity
Acceleration
Curve_Mode
10-2
Function name
Data type Property
U16 Number
U16 Number
U16 Number
I32 inc/s
second
F64
Pulse / s^2
U16 Option
EtherCAT Programming Guide
Description
Execute single-axis motion with the setting speed
Execute multi-axes synchronous motion with the
setting speed
Description
Card No.
Node ID
Slot ID
Target speed
inc signifies the unit set in the device. Please refer to
the manual of the slave device for more details.
(OD: 0x60FF Sub 0)
Time to reach the target speed (inc/s^2)
inc signifies the unit set in the device. Please refer to
the manual of the slave device for more details.
(OD: 0x6083 Sub 0)
1: T-curve (Default)
2: S-curve
March, 2017