Ecat_Slave_Csp_Liner_Speed_Master - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

Description
Please refer to figure 9.20.1. When setting Ratio to 60, it means the T-curve ratio is 60%.The
front part (20%) of the accerleration uses S-curve. The middle part (60%) applies T-curve for
acceleration. And the rest (20 %) applies S-curve again. The configuration of deceleration is
identical to the acceleration.

9.21 _ECAT_Slave_CSP_Liner_Speed_Master


Syntax
U16 PASCAL _ECAT_Slave_CSP_Liner_Speed_Master (U16 CardNo , U16 AxisNo ,
U16 SlotNo , U16 Mode)

Purpose
This is for setting the speed (vector) of advanced interpolation function.
Note: When enabling this function, the speed (vector) of all CSP commands will be changed.

Parameter
Name
CardNo
AxisNo
SlotNo
Mode
March, 2017
Figure 9.20.1 Setting of scurve_rate
Data type Property
U16 Number
U16 Number
U16 Number
U16 Option
Cyclic Synchronous Position Mode (CSP)
Description
Card No.
Node ID; it is valid only when Mode is set to 2
Slot ID; it is valid only when Mode is set to 2
It defines the speed of all CSP command.
0: Speed (vector) (Default)
1: Speed (vector) for the longest moving distance
2: Speed (vector) for the specified axis
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