Cyclic Synchronous Torque Mode (Cst) - Delta EtherCAT Programming Manual

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.
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11.1 _ECAT_Slave_CST_Start_Move ······················································· 11-2
11.2 _ECAT_Slave_CST_Multi_Start_Move ··············································· 11-3
March, 2017
11-1