Delta EtherCAT Programming Manual page 281

Profile Torque Mode (PT)
Commands will be issued via SDO communication in PT (Profile Torque) mode. EtherCAT
master sends the acceleration parameters to the motion axis. When all commands are issued,
the motion axis starts working and will be controlled by the servo drive and pulse module.
16
API list of PT mode
_ECAT_Slave_PT_Start_Move
_ECAT_Slave_PT_Advance_Config
16-2
Function name Description
Execute the single-axis motion with constant torque in
PT mode.
Advanced setting of PT mode
EtherCAT Programming Guide
March, 2017