Delta EtherCAT

EtherCAT Programming Guide Profile Velocity Mode (PV)
March, 2017 14-5
14
Name Data type Property Description
Velocity_Threshold_Time U16 Millisecond (ms)
Set the duration of non-zero speed (OD: 0x6070
Sub 0)
Bit 12 of
“ _ECAT_Slave_Motion_Get_StatusWord” will be
disabled when the motion speed reaches the
value specified by Velocity_Threshold, and this
speed has lasted longer than the time set by
Velocity_Threshold_Time.

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0, SetBit=0x03; //Set Max_Torque, Velocity_Window;
U16 Max_Torque=200, Velocity_Window=20, Velocity_Window_Time=3;
U16 Velocity_Threshold=10, Velocity_Threshold_Time=3;
Status=_ECAT_Slave_PV_Advance_Config (CardNo, AxisNo, SlotNo, SetBit,
Max_Torque, Velocity_Window, Velocity_Window_Time, Velocity_Threshold,
Velocity_Threshold_Time);