Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-34 March, 2017
9
9.18 _ECAT_Slave_CSP_Speed_Continue_Set_Mode

Syntax
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 Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Mode U16 Option
0: Keep the the acceleration/deceleration unchanged
1: Keep the time of acceleration/ deceleration
unchanged
2: Keep the constant speed unchanged

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:

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English