Delta EtherCAT

EtherCAT Programming Guide Cyclic Synchronous Position Mode (CSP)
March, 2017 9-37
9
9.19 _ECAT_Slave_CSP_Speed_Continue_Set_Combine_
Ratio

Syntax
U16 PASCAL _ECAT_Slave_CSP_Speed_Continue_Set_Combine_Ratio (U16 CardNo , U16
AxisNo , U16 SlotNo , U16 Ratio)

Purpose
This is for setting the percentage of for starting blending speed of two commands.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Ratio U16 Percentage Velocity blended percentage (Range: 0 ~ 100)

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0, Ratio=100;
Status = _ECAT_Slave_CSP_Speed_Continue_Set_Combine_Ratio (CardNo, AxisNo,
SlotNo, Ratio);

Description
Set Ratio to 100:
Set Ratio to 50: