Delta EtherCAT Programming Manual page 81

API List of EtherCAT Dynamic-Link Library
_ECAT_Slave_CSP_Start_2Segment_Move
4
_ECAT_Slave_CSP_Start_PVT_Move
_ECAT_Slave_CSP_Start_PVTComplete_Move
_ECAT_Slave_CSP_Virtual_Set_Enable
_ECAT_Slave_CSP_Virtual_Set_Command
_ECAT_Slave_CSP_Get_SoftLimit_Status
_ECAT_Slave_CSP_Pitch_Set_Interval
_ECAT_Slave_CSP_Pitch_Set_Mode
_ECAT_Slave_CSP_Pitch_Set_Org
_ECAT_Slave_CSP_Pitch_Set_Rel_Table
_ECAT_Slave_CSP_Pitch_Set_Abs_Table
_ECAT_Slave_CSP_Pitch_Set_Enable
_ECAT_Slave_CSV_Start_Move
_ECAT_Slave_CSV_Multi_Start_Move
_ECAT_Slave_CST_Start_Move
_ECAT_Slave_CST_Multi_Start_Move
_ECAT_Slave_Home_Config
_ECAT_Slave_Home_Move
_ECAT_Slave_Home_Status
_ECAT_Slave_PP_Start_Move
_ECAT_Slave_PP_Advance_Config
4-6
Cyclic Synchronous Position Mode (CSP)
Set the single-axis linear motion by specifying two
distances and speed
Set the single-axis motion to move to multiple
points at fixed time
Specify the initial speed and end speed of the
single-axis motion, moving through multiple points
at fixed time.
Enable function of virtual position
Set the virtual position and replacing the current
position with the specified position
Acquire the status of software limit
Set the interval of the pitch error compensation
Set the mode of pitch error compensation
Set the start position of pitch error compensation.
Set the relative position of each interval for pitch
error compensation
Set the absolute position of each interval for pitch
error compensation
Enable function of pitch error compensation.
Cyclic Synchronous Velocity Mode (CSV)
Execute single-axis motion with the setting speed
Execute multi-axes synchronous motion with the
setting speed
Cyclic Synchronous Torque Mode (CST)
Execute single-axis motion with the setting torque
Execute multi-axis synchronous motion with the
setting torque
Homing
Set the homing mode
Execute homing
Acquire the current homing status
Profile Position Mode (PP)
Execute single-axis linear motion in PP mode
Advanced setting of PP mode
EtherCAT Programming Guide
March, 2017