Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-14 March, 2017
9
9.6 _ECAT_Slave_CSP_Start_Spiral_Move
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Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Spiral_Move(U16 CardNo, U16 *AxisNo,
U16 *SlotNo, I32 *CenterPoint, I32 Spiral_Interval, F64 Angle, I32 StrVel, I32 ConstVel,
I32 EndVel, F64 TPhase1, F64 TPhase2, U16 Scurve, U16 Abs_Rel)
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Purpose
This is for executing two-axis spiral motion, moving from current position and the specified circle
center to form the specified angle.
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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
Spiral_Interval I32*
Array of pulse
for each axis
Sprial pitch
When the value > 0, it means the spiral rotates in
outward direction.
When the value < 0, it means the spiral rotates in
inward direction.
Angle F64
Angle
Rotation angle of the spiral motion (360 degrees for 1
cycle)
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
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Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English