Delta EtherCAT

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-38 March, 2017
9
9.20 _ECAT_Slave_CSP_Scurve_Rate

Syntax
U16 PASCAL _ECAT_Slave_CSP_Scurve_Rate (U16 CardNo , U16 AxisNo ,
U16 SlotNo , U16 Ratio)

Purpose
This is for setting the ratio of T-curve and S-curve during acceleration and deceleration.
Note:
1. Once this function is enabled, it will change the S-curve ratio of CSP motion command. However, the
setting of linear acceleration (T-curve) remains the same.
2. Like the function of _ECAT_Slave_CSP_Feedrate_Overwrite, multi-axis motion with continuous speed
can be achieved 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
Ratio U16 Percentage
Ratio of linear acceleration (T-curve):
Range: 0 ~ 100
Please refer to the following description for more
information.

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
U16 Ratio =100;
Status = _ECAT_Slave_CSP_Scurve_Rate (CardNo, AxisNo, SlotNo, Ratio);