Delta EtherCAT User Manual

Cyclic Synchronous Velocity Mode (CSV) EtherCAT Programming Guide
10-2 March, 2017
10
In CSV (Cyclic Synchronous Velocity) mode, it issues the speed command via PDO
communication. EtherCAT master will calculate all speed commands for the next communication
cycle after analyzing the speed and acceleration set in the API. Then, it sends the new command
to all motion axes every communication cycle so that single axis or multiple axes can operate
with the setting speed.
API list of CSV mode
Function name Description
_ECAT_Slave_CSV_Start_Move Execute single-axis motion with the setting speed
_ECAT_Slave_CSV_Multi_Start_Move
Execute multi-axes synchronous motion with the
setting speed
10.1 _ECAT_Slave_CSV_Start_Move

Syntax
U16 PASCAL _ECAT_Slave_CSV_Start_Move (U16 CardNo, U16 AxisNo, U16 SlotNo,I32
Target_Velocity, F64 Acceleration, U16 Curve_Mode, U16 Acc_Type)

Purpose
This is for single-axis motion control with the setting speed.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Target_Velocity I32 inc/s
Target speed
inc signifies the unit set in the device. Please refer to
the manual of the slave device for more details.
(OD: 0x60FF Sub 0)
Acceleration F64
second
Pulse / s^2
Time to reach the target speed (inc/s^2)
inc signifies the unit set in the device. Please refer to
the manual of the slave device for more details.
(OD: 0x6083 Sub 0)
Curve_Mode U16 Option
1: T-curve (Default)
2: S-curve

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English