Delta EtherCAT - Ecat_Slave_Csp_Start_Arc_Move

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-8 March, 2017
9
9.3 _ECAT_Slave_CSP_Start_Arc_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Arc_Move (U16 CardNo, U16 *AxisNo,
U16 *SlotNo,I32 *CenterPoint, F64 Angle , I32 Strvel, I32 ConstVel, I32 EndVel,
F64 TPhase1, F64 TPhase2, U16 Scurve, U16 Abs_Rel)

Purpose
This is for executing two-axis arc motion, moving from current position and the specified circle
center to form the specified arc’s angle.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16*
Array for each
axis
Array for each axis (node ID); the array number should
equal to the axis number
AxisNo Array[0] stores the first node
AxisNo Array[1] stores the second node
SlotNo U16*
Array for each
slot
Array for each axis (slot ID)
CenterPoint I32*
Array of pulse
for each axis
Circle center
Angle F64 Angle (°) Set the angle of an arc.
Strvel I32
Pulse / second
Parameter of the motion initial speed
ConstVel I32
Pulse / second
Parameter of the motion constant speed
EndVel I32 Pulse / second Parameter of the motion end speed
TPhase1 F64 Time (second)
Duration to change from initial speed to constant
speed
TPhase2 F64 Time (second) Duration to change from constant speed to end speed
Scurve U16 Option
0: T-curve(Default)
2: S-curve
Abs_Rel U16 Option
0: Relative movement (Default)
1: Absolute movement