Delta EtherCAT Programming Manual page 53

EtherCAT Operation Example
(19) Select Spiral for two-axis arc motion (end 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_Arc2_Move(gESCCardNo, gNodeID,
3
gSlotID, EndPoint, Angle, StrVel, MaxVel, EndVel, Tacc, Tdec, gbIsSCurve,
gbIsABS);
// gblsSCurve
// 1: T-Curve
// 2: S-Curve
// gblsABS
// 0: Relative movement
// 1: Absolute movement
(20) Select Spiral2 for two-axis arc motion (circle center and end point)
Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:
RetCode = _ECAT_Slave_CSP_Start_Arc3_Move(gESCCardNo, gNodeID, gSlotID,
CenPoint,EndPoint,Dir,StrVel, ConstVel,EndVel,Tacc,Tdec,gbIsSCurve, gbIsABS);
// gblsSCurve
// 1: T-Curve
// 2: S-Curve
// gblsABS
// 0: Relative movement
// 1: Absolute movement
(21) Three-axis motion mode (Heli, Line3, Sphere) and the settings
3-32
Figure 3.6.2.10
EtherCAT Programming Guide
March, 2017