Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-46 March, 2017
9
9.26 _ECAT_Slave_CSP_Start_2Segment_Move

Syntax
U16 PASCAL _ECAT_Slave_CSP_Start_2Segment_Move(U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 SegMode, I32 Dist, I32 Dist2, I32 StrVel, I32 MaxVel, I32 MaxVel2,
I32 EndVel, F64 Tacc, F64 Tsec, F64 Tdec, U16 Scurve, U16 Abs_Rel)

Purpose
This is for setting the single-axis linear motion by specifying two distances and speed.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Axis ID
SlotNo U16 Number Slot ID
SegMode U16 Option
Segment mode:
0: The motion axis completes the 1
st
distance first and
then accelerates/decelerates to start the 2
nd
distance.
1: While the 1
st
distance is not completed, the motion
axis accelerates/decelerates to start the 2
nd
distance.
Dist I32 Pulse The 1
st
moving distance
Dist2 I32 Pulse The 2
nd
moving distance
StrVel I32 Pulse / second Initial speed for the 1
st
moving distance
MaxVel I32 Pulse / second The maximum speed for the 1
st
moving distance
MaxVel2 I32 Pulse / second The maximum speed for the 2
nd
moving distance
EndVel I32 Pulse / second End speed for the 2
nd
moving distance
Tacc F64 second Acceleration time of the 1
st
moving distance
Tsec F64 second
Acceleration/deceleration time when switching to travel
the 2
nd
moving distance
Tdec F64 second Deceleration time of the 2
nd
moving distance
Scurve U16 Option
1: T-curve (default)
2: S-curve
Abs_Rel U16 Option
0: Relative movement (default)
1: Absolute movement

Example
U16 Status;

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English