Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-43
9
9.24 _ECAT_Slave_CSP_Sync_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Sync_Move (U16 CardNo)

Purpose
This is for enabling the function of synchronous motion of multiple axes. The function allows the
EtherCAT master issue up to 20 CSP motion commands at the same time.
Note:
1. When some commands are issued to the the same axis, they will be executed by following the issuing
sequence.
2. Users should complete the setting of API “_ECAT_Slave_CSP_Sync_Config” to enable the function
and issue the CSP motion commands one by one. Then, apply the API
“ _ECAT_Slave_CSP_Sync_Move” to start executing all CSP commands.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.

Example
U16 Status;
U16 CardNo=16;
Status = _ECAT_Slave_CSP_Sync_Move (CardNo);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English