Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-44 March, 2017
9
9.25 _ECAT_Slave_CSP_Start_Mabrline_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_Mabrline_Move (U16 CardNo, U16 AxisNum,
U16 *AxisArray, U16 *SlotArray, I32 *Target1Point, I32 *Target2Point, I32 StrVel,
I32 First_ConstVel, I32 Second_ConstVel, I32 EndVel, F64 Tacc_Step1, F64 Tacc_Step2,U16
Abs_Rel)

Purpose
This is for setting to smooth the operation of point-to-point motion of multiple axes.
Note:
1. This API function is similar to the API “_ECAT_Slave_CSP_Start_Msbrline_Move” (section 9.11). The
difference between them is that this API will automatically calculate the corner speed based on the set
accerlation and deceleration.
2. The corner speed of this API is identical to the API “_ECAT_Slave_CSP_Speed_Continue_Enable”
(section 9.17). However, it takes effect only in the path that is being executed by this API.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNum U16 Quantity
Axis number to be used for synchronous motion
control
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
Target1Point I32*
Array of pulse
for each axis
First position; the array number should equal to the
axis number
Target1Point[0] stores the first point of the first axis.
Target1Point[1] stores the first point of the second
axis
….

Delta EtherCAT Specifications

General

Category	Control Systems
Communication Interface	EtherCAT
Data Transfer Rate	100 Mbps
Number of Slaves	Up to 65535
Synchronization Accuracy	< 1 μs
Supported Standards	IEC 61158, IEC 61784
Topology	Star, Tree
Cable Type	Ethernet (CAT5e or higher)
Maximum Cable Length	100 meters (between nodes)

Summary

EtherCAT Operation Example

EtherCAT Initialization

Demonstrates the process of initializing EtherCAT communication, including activating and finding interface cards.

EtherCAT Master Configuration

_ECAT_Master_Set_CycleTime

Explains the API for setting the EtherCAT master communication cycle time before initialization.

Master Initialization

_ECAT_Master_Open

Explains the essential API for controlling the Delta EtherCAT master, checking card quantity, and creating memory blocks.

_ECAT_Master_Initial

Describes the API for initializing EtherCAT communication and switching slaves to OP mode.

General Operation of Motion Axis

_ECAT_Slave_Motion_Set_Svon

Describes the API for setting the servo motor to ON/OFF state.

_ECAT_Slave_Motion_Ralm

Cyclic Synchronous Position Mode (CSP)

_ECAT_Slave_CSP_Start_Move

Details the API for executing linear interpolation of a single axis in CSP mode.

_ECAT_Slave_CSP_Start_V_Move

Homing

_ECAT_Slave_Home_Config

Details the API for setting the homing mode and parameters for motion axes.

_ECAT_Slave_Home_Move

Explains the API for executing the homing procedure on a specified motion axis.

Profile Position Mode (PP)

_ECAT_Slave_PP_Start_Move

Describes the API for executing single-axis linear motion in PP mode.

Profile Velocity Mode (PV)

_ECAT_Slave_PV_Start_Move

Explains the API for executing single-axis motion with constant speed in PV mode.

Group Motion Control

_ECAT_Slave_User_Motion_Control_Set_Enable_Mode

Describes the API for setting the group status and enabling/disabling group motion control.

Operation of Delta Servo System

_ECAT_Slave_DeltaServo_Write_Parameter

Explains the API for writing servo parameter values to Delta servo drives.

_ECAT_Slave_DeltaServo_Read_Parameter

Details the API for reading servo parameter values from Delta servo drives.

Auto Recording Function of Motion Axis

High-Speed Pulse Compare Function

_ECAT_Compare_Set_Channel_Position

Security of Software Protection

_ECAT_Security_Check_Verifykey

_ECAT_Security_Check_UserPassword

MPG Operation (For R1-EC5614D0 Series)

_ECAT_Slave_R1_EC5614_Set_MJ_Config

Sets the parameters for the MPG (Manual Pulse Generator) function.

_ECAT_Slave_R1_EC5614_Set_MJ_Enable

Error Code Description

List of error code

Lists returned values (decimal) and corresponding error code names for EtherCAT DLL operations.

Error code description

Provides detailed descriptions and troubleshooting steps for various EtherCAT error codes.