Delta EtherCAT - Page 241

Cyclic Synchronous Velocity Mode (CSV) EtherCAT Programming Guide
10-4 March, 2017
10
Name Data type Property Description
Acceleration F64*
second
Inc / s^2
Array of 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
Acc_Type U16 Option
Acceleration unit:
0: Second
1: inc / s^2
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Example
U16 Status;
U16 CardNo=16, AxisNum = 2;
U16 AxisNo[2]={1, 2}, SlotNo[2]={0, 0}, Curve_Mode = 1, Acc_Type = 0;
I32 Target_Velocity[2] ={600000, 600000};
F64 Acceleration[2] = {0.2, 0.2};
Status = _ECAT_Slave_CSV_Multi_Start_Move (CardNo, AxisNum, &AxisNo, &SlotNo,
&Target_Velocity, &Acceleration, Curve_Mode, Acc_Type);