Delta EtherCAT Programming Manual page 213

Cyclic Synchronous Position Mode (CSP)
When Mode is set to 2:
If the moving distance and constant speed remain unchanged, users have to modify the
acceleration/deceleration time and slope. When Mode is set to 2, the constant speed will remain,
9
but the acceleration/deceleration time will be altered according to the actual application. See
figure 9.18.3. Black line shows the programmed path and the red line shows the actual path
(1000 mm).
9-36
Tacc = 0.1 Tdec = 0.1
Figure 9.18.3
EtherCAT Programming Guide
Tacc = ? Tdec = ?
March, 2017