General Operation Of Motion Axis - Delta EtherCAT Programming Manual

General Operation of
Motion Axis
This chapter presents the APIs for general operation of motion axis, which can be used
to acquire system status or set the motion parameters/commands of motion axis. And
Touch Probe setting is also included.
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8.1 _ECAT_Slave_Motion_Set_Svon ······················································ 8-3
8.2 _ECAT_Slave_Motion_Ralm ···························································· 8-4
8.3 _ECAT_Slave_Motion_Sd_Stop ························································ 8-5
8.4 _ECAT_Slave_Motion_Emg_Stop ····················································· 8-6
8.5 _ECAT_Slave_Motion_Set_Alm_Reaction ··········································· 8-7
8.6 _ECAT_Slave_Motion_Set_Position ··················································· 8-8
8.7 _ECAT_Slave_Motion_Set_Command ··············································· 8-9
8.8 _ECAT_Slave_Motion_Set_MoveMode ············································ 8-10
8.9 _ECAT_Slave_Motion_Get_MoveMode ············································ 8-11
8.10 _ECAT_Slave_Motion_Get_ControlWord ········································· 8-12
8.11 _ECAT_Slave_Motion_Get_StatusWord ·········································· 8-14
8.12 _ECAT_Slave_Motion_Get_Mdone ················································ 8-16
8.13 _ECAT_Slave_Motion_Get_Position ··············································· 8-17
8.14 _ECAT_Slave_Motion_Get_Command ··········································· 8-18
8.15 _ECAT_Slave_Motion_Get_Target_Command ·································· 8-19
8.16 _ECAT_Slave_Motion_Get_Actual_Position ····································· 8-20
8.17 _ECAT_Slave_Motion_Get_Actual_Command ·································· 8-21
8.18 _ECAT_Slave_Motion_Get_Current_Speed ····································· 8-22
8.19 _ECAT_Slave_Motion_Get_Torque ················································ 8-23
8.20 _ECAT_Slave_Motion_Get_Buffer_Length ······································· 8-24
8.21 _ECAT_Slave_Motion_Set_TouchProbe_Config ······························· 8-25
8.22 _ECAT_Slave_Motion_Set_TouchProbe_QuickStart ·························· 8-28
8.23 _ECAT_Slave_Motion_Set_TouchProbe_QuickDone ························· 8-30
8.24 _ECAT_Slave_Motion_Set_TouchProbe_Disable ······························ 8-32
8.25 _ECAT_Slave_Motion_Get_TouchProbe_Status ······························· 8-33
8.26 _ECAT_Slave_Motion_Get_TouchProbe_Position ····························· 8-35
March, 2017
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