Delta EtherCAT Programming Manual page 49

EtherCAT Operation Example
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"
3
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.
(12) Set the servo motor to ON/OFF state (servo on/servo off)
Press the SVON key (as shown in figure 3.6.2.4) to execute the following program:
RetCode = _ECAT_Slave_Motion_Set_Svon(gESCCardNo, gNodeID[i], gSlotID[i],
ON_OFF);
// ON_OFF:
// 0: Servo OFF
// 1: Servo ON
(13) Select Line2 for two-axis linear motion control
Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:
RetCode = _ECAT_Slave_CSP_Start_Multiaxes_Move(gESCCardNo, 2, gNodeID,
gSlotID, Dist, StrVel, MaxVel, EndVel, Tacc, Tdec, gbIsSCurve, gbIsABS);
// gblsSCurve
// 1: T-Curve
// 2: S-Curve
// gblsABS
// 0: Relative movement
// 1: Absolute movement
(14) Select Spiral for two-axis arc motion control (center point and angle)
Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:
RetCode = _ECAT_Slave_CSP_Start_Spiral_Move(gESCCardNo,gNodeID, gSlotID,
CenPoint, Spiral_Interval, Angle, StrVel, MaxVel, EndVel, Tacc, Tdec, gbIsSCurve,
gbIsABS);
// gblsSCurve
// 1: T-Curve
// 2: S-Curve
// gblsABS
// 0: Relative movement
// 1: Absolute movement
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EtherCAT Programming Guide
March, 2017