Delta EtherCAT Programming Manual page 241

Cyclic Synchronous Velocity Mode (CSV)
Name
10
Acceleration
Curve_Mode
Acc_Type

Example
U16 Status;
U16 CardNo=16, AxisNum = 2;
U16 AxisNo[2]={1, 2}, SlotNo[2]={0, 0}, Curve_Mode = 1, Acc_Type = 0;
I32 Target_Velocity[2] ={600000, 600000};
F64 Acceleration[2] = {0.2, 0.2};
Status = _ECAT_Slave_CSV_Multi_Start_Move (CardNo, AxisNum, &AxisNo, &SlotNo,
&Target_Velocity, &Acceleration, Curve_Mode, Acc_Type);
10-4
Data type Property
second
F64*
Inc / s^2
U16 Option
U16 Option
EtherCAT Programming Guide
Description
Array of 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
Acceleration unit:
0: Second
1: inc / s^2
March, 2017