Delta EtherCAT Programming Manual page 280

Profile Torque Mode (PT)
This chapter introduces the APIs used for single-axis motion control in PT mode. Unlike
CST mode, all relevant commands will be issued to the motion axis at once in PT mode.
Then, the motion axis will automatically complete the motion and not be interfered by
EtherCAT master during the process (except the stop command). Thus, it only issues
the command for single-axis motion.
16
16.1 _ECAT_Slave_PT_Start_Move ························································· 16-3
16.2 _ECAT_Slave_PT_Advance_Config ·················································· 16-4
March, 2017
16-1