Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Velocity Mode (CSV)
March, 2017 10-3
10
Name Data type Property Description
Acc_Type U16 Option
Acceleration unit:
0: Second
1: inc/ s^2

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0, Curve_Mode = 1, Acc_Type = 0;
I32 Target_Velocity =600000;
F64 Acceleration = 0.2;
Status = _ECAT_Slave_CSV_Start_Move (CardNo, AxisNo, SlotNo, Target_Velocity,
Acceleration, Curve_Mode, Acc_Type);
10.2 _ECAT_Slave_CSV_Multi_Start_Move

Syntax
U16 PASCAL _ECAT_Slave_CSV_Multi_Start_Move (U16 CardNo, U16 AxisNum,
U16 *AxisNo, U16 *SlotNo, I32 *Target_Velocity, F64 *Acceleration, U16 Curve_Mode,
U16 Acc_Type)

Purpose
This is for multi-axes synchronous motion control with the setting speed.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNum U16 Quantity
Quantity of the axes for synchronous motion control.
Refer to section 2.1 for information about suggested
maximum axis number.
AxisNo U16* Array Array of node ID
SlotNo U16* Array Array of slot ID
Target_Velocity I32* inc/sec
Array of 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)

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English