Hello Dears.
I have implemented an Ethercat based G-code motion controller system using HCQ0 form HCFA , the motion systme is 4 axis (X , Y, Z , C ) where C is rotational axis around the z axis ..
all of the axis are working just fine whithin the speed and the acceleration that I have specified in Gcode file , but the C axis is always stopping the interpolator by means of avoidgaps functionality because the postion monitoring is discovering high speed of movement that exeeds the SW max speed of the device ..because of that the movement of he c axis has a pretty annoying discontiuty ..
my Gcode:
N010 G01 Z247. F150.
N011 G01 C15. F25.
N012 G01 Z-247. F150.
N013 G01 C-15. F25.
N014 G01 Z247. F150.
N015 G01 C15. F25.
N016 G01 Z-247. F150.
N017 G01 C-15. F25.

the image of the interpolator FB is attached..
the C dirve's max SW speed is 80 degree/second.
I need to know why the interpolator is ending high speed position commands?

you need to limit the speed of additional axis separately.

N010 G01 Z247. F150.
N011 G01 C15. FC25.
N012 G01 Z-247. F150.
N013 G01 C-15. FC25.
N014 G01 Z247. F150.
N015 G01 C15. FC25.
N016 G01 Z-247. F150.
N017 G01 C-15. FC25.

and add SMC_ExtendedVelocityChecks to your path preprocessing.