Delta EtherCAT Programming Manual page 44

EtherCAT Programming Guide
(4) The parameter of single-axis motion control
Dist.: Input the moving distance. The parameter "Dist" in the API function.
StrVel.: Input the initial speed. The parameter "StrVel" in the API function.
ConstVel: Input the constant speed. The parameter "ConstVel" in the API function.
EndVel: Input the end speed when it reaches the target position. The parameter "EndVel"
in the API function.
TPhase1: Input the duration from initial speed to constant speed. The parameter
"TPhase1" in the API function.
TPhase2: Input the duration from constant speed to end speed. The parameter "TPhase2"
in the API function.
S-Curve: Check this box to use S-Curve for the speed curve. Otherwise, it will use
T-Curve.
ABS.: Check this box to have the motion conducted according to absolute coordinates set
in Dist.
(5) Set the servo motor to ON/OFF state (servo on/servo off)
March, 2017
Figure 3.6.2.3
Figure 3.6.2.4
EtherCAT Operation Example
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