Delta EtherCAT Programming Manual page 267

Profile Position Mode (PP)
Commands will be issued via SDO communication in PP (Profile Position) mode. In this mode,
EtherCAT master sends the position, speed and acceleration related parameters to the motion
axis. When all commands are issued, the motion axis starts working and will be controlled by the
13
servo drive and pulse module. It can achieve real-time control. However, it does not support
multi-axis interpolation.
API list of PP mode
_ECAT_Slave_PP_Start_Move
_ECAT_Slave_PP_Advance_Config
13-2
Function name
EtherCAT Programming Guide
Description
Execute single-axis linear motion in PP mode
Advanced setting of PP mode
March, 2017