Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-20 March, 2017
9
9.10 _ECAT_Slave_CSP_Start_Multiaxes_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Multiaxes_Move (U16 CardNo, U16 AxisNum,
U16 *AxisArray, U16 *SlotArray, I32 *DistArray, I32 Strvel, I32 ConstVel, I32 EndVel,
F64 TPhase1, F64 TPhase2, U16 Scurve, U16 Abs_Rel)

Purpose
This is for executing multi-axis linear motion.

Parameter
Name Data type Property Description
CardNo U16 Number Card number
AxisNum U16 Quantity
The engaged axis number. Please refer to Secion 2.1
for the maximun value.
AxisArray 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
….
SlotArray U16*
Array for each
slot
Array for each axis (slot ID); the array number should
equal to the axis number
DistArrary I32*
Array of pulse
for each axis
Array of the moving distance for each axis; the array
number should equal to the axis number
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

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English