Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-29
9
9.16 _ECAT_Slave_CSP_Feedrate_Overwrite

Syntax
U16 PASCAL _ECAT_Slave_CSP_Feedrate_Overwrite (U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 Mode, I32 NewSpeed, F64 Tsec)

Purpose
This is used for the advanced setting of speed change for single axis. Multiple modes are
provided.
Note: To change to the default speed after it is in mode 1 or mode 2, users have to set it to mode 0 again to
and set NewSpeed to avoid sudden inintended acceleration.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Mode U16 Option
0: Change the vector velocity when the current motion
is at constant speed.
1: The current speed and the speed in the later
commands will be changed once the new speed is
set.
2: The current speed and the speed in the later
commands will be changed by the speed ratio once
the new speed is set. The range is from 0% ~
1000%.
NewSpeed I32 Pulse / second
When Mode is set to 0 and 1, input the speed to be
replaced.
When Mode is set to 2, input the speed rator to be
replaced, range from 0% ~ 1000.
Tsec F64 Second
The specified acceleration/deceleration time for speed
changing.

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0, Mode=0;
I32 NewSpeed =3000;
F64 Tsec=0.1;
Status = _ECAT_Slave_CSP_Feedrate_Overwrite (CardNo, AxisNo, SlotNo, Mode,
NewSpeed, Tsec);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English