Delta EtherCAT

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-32 March, 2017
9
Figure 9.16.3 Set Mode to 2 to change the speed ratio of constant speed for all commands
*Starting from A, NewSpeed is set to 200 so speed of the
current motion command and the ones issued later will be
200% (2 times) of the original speed.
StrVel
Acc.
ConstVel = 1000
ConstVel = 1200
ConstVel = 1100
ConstVel = 2400
ConstVel = 2200
Tsec
When Mode = 2, the
speed ratio is
changed to 200%