Ecat_Slave_Csp_Speed_Continue_Set_Mode - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.18 _ECAT_Slave_CSP_Speed_Continue_Set_Mode


Syntax
9 U16 PASCAL _ECAT_Slave_CSP_Speed_Continue_Set_Mode (U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 Mode)

Purpose
This is for setting the continuous speed mode that brings smooth operation.

Parameter
Name
CardNo
AxisNo
SlotNo
Mode

Example
U16Status;
U16 CardNo=16, AxisNo=1, SlotNo=0, Mode=1;
Status = _ECAT_Slave_CSP_Speed_Continue_Set_Mode (CardNo, AxisNo, SlotNo, Mode);

Description
When the user issues an invalid command, EtherCAT master will modify the command according
to the set Mode.
For example: The moving distance is set to 1000 mm, constant speed is 20000 mm/s and the
acceleration and deceleration time are both 0.1 second. If the motor needs to accelerate from 0
mm/s to 20000 mm/s in 0.1 second and then decelerates to 0 mm/s within 0.1 second, it requires
setting its moving distance to 4000 mm at least. Therefore, setting the moving distance to 1000
mm is unreasonable. In this case, EtherCAT master provides three methods:
9-34
Data type Property
U16 Number
U16 Number
U16 Number
U16 Option
Description
Card No.
Node ID
Slot ID
0: Keep the the acceleration/deceleration unchanged
1: Keep the time of acceleration/ deceleration
unchanged
2: Keep the constant speed unchanged
EtherCAT Programming Guide
March, 2017