Delta EtherCAT Programming Manual page 183

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