Delta EtherCAT Programming Manual page 48

EtherCAT Programming Guide
Spiral parameter settings: Type 1 of spiral interpolation (with the known circle center and
angle)
CenX: Input the X-coordinate of the circle center. The parameter "CenterPoint" in the API
function.
CenY: Input the Y-coordinate of the circle center. The parameter "CenterPoint" in the API
function.
Inter: Input the relative distance between the known spiral pitches. The parameter
"Spiral_Interval" in the API function.
Angle: Input the angle of the spiral movement. The parameter "Angle" 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.
Spiral2 parameter settings: Type 2 of spiral interpolation (with the know end point and
circle number)
CenX: Input the X-coordinate of the circle center. The parameter "CenterPoint" in the API
function.
CenY: Input the Y-coordinate of the circle center. The parameter "CenterPoint" in the API
function.
EndX: Input the target position of X-coordinate. The parameter "EndPoint" in the API
function.
EndY: Input the target position of Y-coordinate. The parameter "EndPoint" in the API
function.
Num: Input the circle number of the spiral movement. The parameter "CycleNum" in the
API function.
Dir: Input the moving direction (0: Clockwise, 1: Anticlockwise). The parameter "Dir" 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.
March, 2017
EtherCAT Operation Example
3
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