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Delta EtherCAT User Manual

Delta EtherCAT
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Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-12 March, 2017
9
9.5 _ECAT_Slave_CSP_Start_Arc3_Move
Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Arc3_Move (U16 CardNo, U16 *AxisNo,
U16 *SlotNo,I32 *CenterPoint, I32 *EndPoint, U16 Dir, 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 the current position and specified circle
center to the specified end point.
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
EndPoint I32*
Array of pulse
for each axis
End point
Dir U16 Option
Moving direction of the arc motion
0: Clockwise; 1: counterclockwise
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

Table of Contents

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Delta EtherCAT Specifications

General IconGeneral
CategoryControl Systems
Communication InterfaceEtherCAT
Data Transfer Rate100 Mbps
Number of SlavesUp to 65535
Synchronization Accuracy< 1 μs
Supported StandardsIEC 61158, IEC 61784
TopologyStar, Tree
Cable TypeEthernet (CAT5e or higher)
Maximum Cable Length100 meters (between nodes)

Summary

EtherCAT Operation Example

EtherCAT Initialization

Demonstrates the process of initializing EtherCAT communication, including activating and finding interface cards.

EtherCAT Master Configuration

_ECAT_Master_Set_CycleTime

Explains the API for setting the EtherCAT master communication cycle time before initialization.

Master Initialization

_ECAT_Master_Open

Explains the essential API for controlling the Delta EtherCAT master, checking card quantity, and creating memory blocks.

_ECAT_Master_Initial

Describes the API for initializing EtherCAT communication and switching slaves to OP mode.

General Operation of Motion Axis

_ECAT_Slave_Motion_Set_Svon

Describes the API for setting the servo motor to ON/OFF state.

Cyclic Synchronous Position Mode (CSP)

_ECAT_Slave_CSP_Start_Move

Details the API for executing linear interpolation of a single axis in CSP mode.

Homing

_ECAT_Slave_Home_Config

Details the API for setting the homing mode and parameters for motion axes.

_ECAT_Slave_Home_Move

Explains the API for executing the homing procedure on a specified motion axis.

Profile Position Mode (PP)

_ECAT_Slave_PP_Start_Move

Describes the API for executing single-axis linear motion in PP mode.

Profile Velocity Mode (PV)

_ECAT_Slave_PV_Start_Move

Explains the API for executing single-axis motion with constant speed in PV mode.

Group Motion Control

_ECAT_Slave_User_Motion_Control_Set_Enable_Mode

Describes the API for setting the group status and enabling/disabling group motion control.

Operation of Delta Servo System

_ECAT_Slave_DeltaServo_Write_Parameter

Explains the API for writing servo parameter values to Delta servo drives.

_ECAT_Slave_DeltaServo_Read_Parameter

Details the API for reading servo parameter values from Delta servo drives.

Auto Recording Function of Motion Axis

High-Speed Pulse Compare Function

Security of Software Protection

MPG Operation (For R1-EC5614D0 Series)

_ECAT_Slave_R1_EC5614_Set_MJ_Config

Sets the parameters for the MPG (Manual Pulse Generator) function.

Error Code Description

List of error code

Lists returned values (decimal) and corresponding error code names for EtherCAT DLL operations.

Error code description

Provides detailed descriptions and troubleshooting steps for various EtherCAT error codes.

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