Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-59
9
9.36 _ECAT_Slave_CSP_Pitch_Set_Abs_Table

Syntax
U16 PASCAL _ECAT_Slave_CSP_Pitch_Set_Abs_Table(U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 Dir, I32* Table, U16 Num)

Purpose
This is for setting the absolute position of each interval for pitch error compensation.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Dir U16 Option
It sets the compensation value in positive/negative
direction.
0: Set the compensation value for positive direction
1: Set the compensation value for negative direction
Table I32* Array Compensation array of each interval (absolute position)
Num U16 Value Amount of compensation array. Max. value: 10000

Example
U16 Status;
U16 CardNo = 16, AxisNo=0, SlotNo=0, Dir=0, Num=0;
I32 Table[3]={0, 1, 2};
Status = _ECAT_Slave_CSP_Pitch_Set_Abs_Table (CardNo, AxisNo, SlotNo, Dir, &Table,
Num);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English