Delta EtherCAT Programming Manual page 43

EtherCAT Operation Example
(3) Select the moving mode
3
Single-axis motion control:
Two-axis motion control:
Three-axis motion control:
3-22
P To P: Point to point movement
Continue: Linear movement
Line2: Linear interpolation control
Arc: Type 1 arc interpolation control (with the known circle center and angle)
Arc2: Type 2 arc interpolation control (with the known end point and angle)
Arc3: Type 3 arc interpolation control (with the known circle center and end point)
Spiral: Type 1 spiral interpolation control (with the known circle center and angle)
Spiral2: Type 2 spiral interpolation control (with the known end point and circle
number)
Helix: Helical interpolation control
Line3: Linear interpolation control
Sphere: Three-axis sphere motion control
Figure 3.6.2.2
EtherCAT Programming Guide
March, 2017