Ecat_Slave_Csp_Speed_Continue_Enable - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

9.17 _ECAT_Slave_CSP_Speed_Continue_Enable


Syntax
U16 PASCAL _ECAT_Slave_CSP_Speed_Continue_Enable (U16 CardNo, U16 AxisNo, U16
SlotNo, U16 Enable)

Purpose
This is for enabling or disabling the continuous speed function.
When this function is enabled, EtherCAT master will adjust the speed for all CSP motion
commands of the specified axis. That is to say, the acceleration and deceleration of continuous
commands will be adjusted by the ratio set in
_ECAT_Slave_CSP_Speed_Continue_Set_Combine_Ratio. This can be used to prevent
machine vibration.
Note: Like _ECAT_Slave_CSP_Feedrate_Overwrite, the multi-axis motion speed will be adjusted only
when the first axis in the array is identical to the axis set in this API.

Parameter
Name
CardNo
AxisNo
SlotNo
Enable

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0, Enable=1;
Status = _ECAT_Slave_CSP_Speed_Continue_Enable (CardNo, AxisNo, SlotNo, Enable);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
U16 Option
Cyclic Synchronous Position Mode (CSP)
Description
Card No.
Node ID
Slot ID
0: Disable continuous speed function
1: Enable continuous speed function
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