Delta EtherCAT User Manual

Profile Torque Mode (PT) EtherCAT Programming Guide
16-2 March, 2017
16
Commands will be issued via SDO communication in PT (Profile Torque) mode. EtherCAT
master sends the acceleration parameters to the motion axis. When all commands are issued,
the motion axis starts working and will be controlled by the servo drive and pulse module.
API list of PT mode
Function name Description
_ECAT_Slave_PT_Start_Move
Execute the single-axis motion with constant torque in
PT mode.
_ECAT_Slave_PT_Advance_Config Advanced setting of PT mode

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English