Delta EtherCAT Programming Manual page 283

Profile Torque Mode (PT)
16.2 _ECAT_Slave_PT_Advance_Config

Syntax
16 U16 PASCAL _ECAT_Slave_PT_Advance_Config (U16 CardNo, U16 AxisNo, U16 SlotNo, U16
SetBit, U16 Max_Current, I16 Torque_Profile)

Purpose
This is for the advanced setting of PT mode.

Parameter
Name
CardNo
AxisNo
SlotNo
SetBit
Max_Current
Torque_Profile

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
U16 Max_Current=200, SetBit=0, Torque_Profile=0;
Status=_ECAT_Slave_PT_Advance_Config (CardNo, AxisNo, SlotNo, Max_Current,
Torque_Profile);
16-4
Data type Property
U16 Number
U16 Number
U16 Number
U16 Option
U16 Permillage
I16 Option
Description
Card No.
Node ID
Slot ID
Enable the following parameters via bit setting:
Bit 0 → Max_Current
Bit 1 → Torque_Profile
0.1% of the maximum rated torque, which setting range
is 1 ~ 1000.
0: Linear change
1: Sine wave change
EtherCAT Programming Guide
March, 2017