Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-18 March, 2017
9

Example
U16 Status, CardNo=0, AxisNo[2]={1,2}, SlotID[2]={0, 0}, Scurve =0, Abs_Rel =0;
I32 Target1Point [2] ={25000,50000,20000}, Target2Point [2] ={95000,110000,60000};
I32 StrVel=0, ConstVel =50000, EndVel=20000;
F64 TPhase1=0.2, TPhase2=0.1;
Status = _ECAT_Slave_CSP_Start_Sphere_Move (CardNo, AxisNo, SlotID, Target1Point,
Target2Point, StrVel, ConstVel, EndVel, TPhase1, TPhase2, Scurve, Abs_Rel);
9.9 _ECAT_Slave_CSP_Start_Heli_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Heli_Move (U16 CardNo, U16 *AxisNo,
U16 *SlotNo,I32 *CenterPoint, I32 Depth, I32 Pitch, U16 Dir, I32 Strvel, I32 ConstVel,
I32 EndVel, F64 TPhase1, F64 TPhase2, U16 Scurve, U16 Abs_Rel)

Purpose
This is for executing three-axis helical motion, moving from current position and the known circle
center to the specified height in Z-axis direction.

Parameter
Name Data type Property Description
CardNo U16 Number Card number
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
AxisNo Array[2] stores the third node
SlotNo U16*
Array for each
slot
Array for each axis (slot ID)
CenterPoint I32*
Array of pulse
for each axis
Circle center
Depth I32 Pulse
The depth of the specified axis (the overall height of
Z-axis; this value can be negative)
Pitch I32 Pulse Specify the pitch of the helix
Dir U16 Option
Helical oving direction
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

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English