Delta EtherCAT Programming Manual page 5

8.11 _ECAT_Slave_Motion_Get_StatusWord ······························································ 8-14
8.12 _ECAT_Slave_Motion_Get_Mdone ···································································· 8-16
8.13 _ECAT_Slave_Motion_Get_Position ··································································· 8-17
8.14 _ECAT_Slave_Motion_Get_Command ································································ 8-18
8.15 _ECAT_Slave_Motion_Get_Target_Command ······················································ 8-19
8.16 _ECAT_Slave_Motion_Get_Actual_Position ························································· 8-20
8.17 _ECAT_Slave_Motion_Get_Actual_Command ······················································ 8-21
8.18 _ECAT_Slave_Motion_Get_Current_Speed ························································· 8-22
8.19 _ECAT_Slave_Motion_Get_Torque ···································································· 8-23
8.20 _ECAT_Slave_Motion_Get_Buffer_Length ··························································· 8-24
8.21 _ECAT_Slave_Motion_Set_TouchProbe_Config ···················································· 8-25
8.22 _ECAT_Slave_Motion_Set_TouchProbe_QuickStart ·············································· 8-28
8.23 _ECAT_Slave_Motion_Set_TouchProbe_QuickDone ·············································· 8-30
8.24 _ECAT_Slave_Motion_Set_TouchProbe_Disable ·················································· 8-32
8.25 _ECAT_Slave_Motion_Get_TouchProbe_Status ···················································· 8-33
8.26 _ECAT_Slave_Motion_Get_TouchProbe_Position ················································· 8-35
Cyclic Synchronous Position Mode (CSP)
9.1 _ECAT_Slave_CSP_Start_Move ········································································ 9-5
9.2 _ECAT_Slave_CSP_Start_V_Move ····································································· 9-7
9.3 _ECAT_Slave_CSP_Start_Arc_Move ··································································· 9-8
9.4 _ECAT_Slave_CSP_Start_Arc2_Move ······························································· 9-10
9.5 _ECAT_Slave_CSP_Start_Arc3_Move ······························································· 9-12
9.6 _ECAT_Slave_CSP_Start_Spiral_Move ······························································ 9-14
9.7 _ECAT_Slave_CSP_Start_Spiral2_Move ···························································· 9-15
9.8 _ECAT_Slave_CSP_Start_Sphere_Move ···························································· 9-17
9.9 _ECAT_Slave_CSP_Start_Heli_Move ································································ 9-18
9.10 _ECAT_Slave_CSP_Start_Multiaxes_Move ························································· 9-20
9.11 _ECAT_Slave_CSP_Start_Msbrline_Move ··························································· 9-21
9.12 _ECAT_Slave_CSP_Set_Gear ·········································································· 9-25
9.13 _ECAT_Slave_CSP_Set_Softlimit ······································································ 9-26
9.14 _ECAT_Slave_CSP_TargetPos_Change ····························································· 9-27
9.15 _ECAT_Slave_CSP_Velocity_Change ································································ 9-28
9.16 _ECAT_Slave_CSP_Feedrate_Overwrite ····························································· 9-29
9.17 _ECAT_Slave_CSP_Speed_Continue_Enable ······················································ 9-33
9.18 _ECAT_Slave_CSP_Speed_Continue_Set_Mode ················································· 9-34
9.19 _ECAT_Slave_CSP_Speed_Continue_Set_Combine_ Ratio ···································· 9-37
9.20 _ECAT_Slave_CSP_Scurve_Rate ······································································ 9-38
9.21 _ECAT_Slave_CSP_Liner_Speed_Master ··························································· 9-39
9.22 _ECAT_Slave_CSP_Mask_Axis ········································································ 9-41
March, 2017