Delta EtherCAT Programming Manual page 55

EtherCAT Operation Example
Sphere parameter settings: Three-axis sphere motion (with given three points).
PosX1: The point to be passed through on X-axis (between starting and end point). The
parameter "Target1Point" in the API function.
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PosY1: The point to be passed through on Y-axis (between starting and end point). The
parameter "Target1Point" in the API function.
PosZ1: The point to be passed through on Z-axis (between starting and end point). The
parameter "Target1Point" in the API function.
PosX2: The target coordinate of X-axis. The parameter "Target2Point" in the API function.
PosY2: The target coordinate of Y-axis. The parameter "Target2Point" in the API function.
PosZ2: The target coordinate of Z-axis. The parameter "Target2Point" 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.
(22) 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
(23) Select Heli for three-axis helical motion
Press the ← or → key (as shown in figure 3.6.2.4) to execute the following program:
RetCode = _ECAT_Slave_CSP_Start_Heli_Move(gESCCardNo, gNodeID, gSlotID,
CenPoint,Depth,Pitch,Dir,StrVel,ConstVel,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