Delta EtherCAT User Manual

March, 2017 11-1
Cyclic Synchronous
Torque Mode (CST)
This chapter introduces the APIs in CST mode. Different from PT (Profile Torque) mode,
EtherCAT master issues one torque command in each communication cycle in CST
mode. That is, the torque of all axes is controlled by EtherCAT master. And CST mode
also provides function of single-axis and multi-axis torque control.
11
11.1 _ECAT_Slave_CST_Start_Move ······················································· 11-2
11.2 _ECAT_Slave_CST_Multi_Start_Move ··············································· 11-3

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English