Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-33
9
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 Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Enable U16 Option
0: Disable continuous speed function
1: Enable continuous speed function

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0, Enable=1;
Status = _ECAT_Slave_CSP_Speed_Continue_Enable (CardNo, AxisNo, SlotNo, Enable);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English