Delta EtherCAT User Manual

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-31
9
Figure 9.16.2 Set Mode to 1 to set the new constant speed for all commands
Function of speed change in Mode 2 is similar to Mode 1. However, the speed will be
changed by speed ratio in Mode 2. The 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 = 10;
_ECAT_Slave_CSP_Feedrate_Overwrite (0, AxisNo, 0, 0, NewSpeed, 1);
AxisNoArray = {0, 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 multiple axes has been redefined by
_ECAT_Slave_CSP_Liner_Speed_Master, the NewSpeed will change the redefined speed ratio.
*Starting from A, NewSpeed is set to 1500 so speed
of current command or the ones issued later will all
be 1500.
StrVel
Acc.
ConstVel = 1000
ConstVel = 1200
ConstVel = 1100
When Mode = 1, the
speed will be
changed to 1500
ConstVel = 1500 ConstVel = 1500
Tsec

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English