Delta EtherCAT

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-6 March, 2017
9
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Description
Linear interpolation of CSP command (acc/deceleration)
V (pps)
T (sec)
Start
Velocity
Constant
Velocity
End
Velocity
TPhase1
TPhase2
Figure 9.1.1 Perform lineter interpolation by referring to relative coordinates (T-curve)
V (pps)
T (sec
)
Start
Velocity
End
Velocity
Constant
Velocity
TPhase1 TPhase2
Figure 9.1.2 Perform linear interpolation by referring to relative coordinates (S-curve)