Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-13
9
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Example
U16 Status, CardNo=0, AxisNoArray[2]={1,2}, SlotID[2]={0, 0}, Dir=1, Scurve =0, Abs_Rel =0;
I32 CenterPoint[2] = {50000,50000}, EndPoint[2] ={10000,100000};
I32 StrVel=0, ConstVel =50000, EndVel=20000;
F64 TPhase1=0.2, TPhase2=0.1;
Status = _ECAT_Slave_CSP_Start_Arc3_Move(CardNo, AxisNoArray, SlotID, CenterPoint,
EndPoint, Angle, Strvel, ConstVel, EndVel, TPhase1, TPhase2, Scurve, Abs_Rel);
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Description
This command can be executed only when the arc is less than 360 degrees.
Figure 9.5.1 Move from current position and specified circle center to the specified end point
Note:
1. In the left figure, the axis reaches the specified position.
2. In the right figure, the axis cannot reach the specified position. It is because the distance between its
current position and specified position (arc radius) is different from the distance between the specified
end point and specified circle center.
Figure 9.3.2 Description of TPhase1 and TPhase2 (acc/deceleration)

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English