Delta EtherCAT Programming Manual page 209

Cyclic Synchronous Position Mode (CSP)
9
StrVel
Acc.
Figure 9.16.3 Set Mode to 2 to change the speed ratio of constant speed for all commands
9-32
When Mode = 2, the
speed ratio is
ConstVel = 2400
changed to 200%
ConstVel = 1000
Tsec
ConstVel = 2200
ConstVel = 1200
*Starting from A, NewSpeed is set to 200 so speed of the
current motion command and the ones issued later will be
200% (2 times) of the original speed.
EtherCAT Programming Guide
ConstVel = 1100
March, 2017