Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-30 March, 2017
9
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Description
Speed change function in mode 0 is identical to _ECAT_Slave_CSP_Velocity_Change.
However, the change is valid only when the motion is at constant speed.
Figure 9.16.1 Set Mode to 0 to change the constant speed
In Mode 1, speed can be changed in any condition. And the speed of all CSP motion
commands will also be changed once the NewSpeed command is issued.
Note: The multi-axis motion speed will be changed only when the first axis in the array is identical to
the axis set in this API.
Example:
AxisNo = 1; NewSpeed = 100;
_ECAT_Slave_CSP_Feedrate_Overwrite (0, AxisNo, 0, 1, NewSpeed, 1);
AxisNoArray = {2, 1}; SlotID = {0, 0}; ConstVel = 100000;
_ECAT_Slave_CSP_Start_Arc_Move (0, AxisNoArray, SlotID, CenterPoint, 180, 0,
ConstVel, 0, 1, 1, 1, 1);
The first axis of AxisNoArray is axis 2, which is different from the AxisNo. Thus, the
constant speed of the arc motion will not be changed.
AxisNoArray = {1, 2}; SlotID = {0, 0}; ConstVel = 100000;
_ECAT_Slave_CSP_Start_Arc_Move (0, AxisNoArray, SlotID, CenterPoint, 180, 0,
ConstVel, 0, 1, 1, 1, 1);
The first axis of AxisNoArray is axis 1, which is identical to AxisNo. Thus, the constant
speed of the arc motion will be replaced with the value set in NewSpeed.
Note: if the speed interpolation of multi axes has been redefined by
_ECAT_Slave_CSP_Liner_Speed_Master, the NewSpeed will change the redefined speed.

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English