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Delta EtherCAT User Manual

Delta EtherCAT
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Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-6 March, 2017
9
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)

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Delta EtherCAT Specifications

General IconGeneral
BrandDelta
ModelEtherCAT
CategoryControl Systems
LanguageEnglish

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