Ecat_Slave_Csp_Velocity_Change - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.15 _ECAT_Slave_CSP_Velocity_Change


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Velocity_Change (U16 CardNo, U16 AxisNo,
U16 SlotNo, I32 NewTargetSpd, F64 Tsec)

Purpose
This is for setting the new target speed of single axis.
Note:
1. This function is available when the current command running with constant speed.
2. This function can be carried out in mode 0 of _ECAT_Slave_CSP_Feedrate_Overwrite.

Parameter
Name
CardNo
AxisNo
SlotNo
NewTargetSpd
Tsec

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
I32 NewTargetSpd =1000000;
F64 Tsec=0.1;
Status = _ECAT_Slave_CSP_Velocity_Change (CardNo, AxisNo, SlotNo,
NewTargetSpd,Tsec);

Description
Figure 9.15.1 This function is identical to mode 0 of _ECAT_Slave_CSP_Feedrate_Overwrite
9-28
Data type Property
U16 Number
U16 Number
U16 Number
I32 Pulse / second
F64 Second
EtherCAT Programming Guide
Description
Card No.
Node ID
Slot ID
The new target speed
The specified acceleration/deceleration time for
speed changing.
March, 2017