Delta EtherCAT Programming Manual page 54

EtherCAT Programming Guide
Heli parameter settings: Three-axis helical interpolation.
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.
Depth: Input the depth of the specified axis (the overall height of Z-axis). The parameter
"Depth" in the API function.
Pitch: Specify the pitch of the helix. The parameter "Pitch" 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.
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.
Line3 parameter settings: Linear interpolation.
Dist1: The moving distance of X-axis. The parameter "DistArray" in the API function.
Dist2: The moving distance of Y-axis. The parameter "DistArray" in the API function.
Dist3: The moving distance of Z-axis. The parameter "DistArray" 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 in
Dist.
March, 2017
EtherCAT Operation Example
3
3-33