Can not control Velocity in CSP Mode

bnjmnp / pysoem

Cython wrapper for the Simple Open EtherCAT Master Library

MIT License

96 stars 37 forks source link

Can not control Velocity in CSP Mode #84

Closed GARBAGE-WALL-E closed 1 year ago

GARBAGE-WALL-E commented 1 year ago

Edit : Will update with the working code soon.

tom9672 commented 1 year ago

As the handbooks of ethercat servo drivers. The velocity of CSP mode is decided by servo driver itself (according to snchronization time and target position), user unable to set target velocity in this mode. If you need to let the motor runs at a targer velocity, I guess you'd better use PV or CSP mode.