Delta EtherCAT Programming Manual page 143

General Operation of Motion Axis
API list of general operation of motion axis
_ECAT_Slave_Motion_Set_Svon
8
_ECAT_Slave_Motion_Ralm
_ECAT_Slave_Motion_Sd_Stop
_ECAT_Slave_Motion_Emg_Stop
_ECAT_Slave_Motion_Set_Alm_Reaction
_ECAT_Slave_Motion_Set_Position
_ECAT_Slave_Motion_Set_Command
_ECAT_Slave_Motion_Set_MoveMode
_ECAT_Slave_Motion_Get_MoveMode
_ECAT_Slave_Motion_Get_ControlWord
_ECAT_Slave_Motion_Get_StatusWord
_ECAT_Slave_Motion_Get_Mdone
_ECAT_Slave_Motion_Get_Position
_ECAT_Slave_Motion_Get_Command
_ECAT_Slave_Motion_Get_Target_Command
_ECAT_Slave_Motion_Get_Actual_Position
_ECAT_Slave_Motion_Get_Actual_Command
_ECAT_Slave_Motion_Get_Current_Speed
_ECAT_Slave_Motion_Get_Torque
_ECAT_Slave_Motion_Get_Buffer_Length
_ECAT_Slave_Motion_Set_TouchProbe_Config
_ECAT_Slave_Motion_Set_TouchProbe_QuickStart
_ECAT_Slave_Motion_Set_TouchProbe_QuickDone
_ECAT_Slave_Motion_Set_TouchProbe_Disable
_ECAT_Slave_Motion_Get_TouchProbe_Status
_ECAT_Slave_Motion_Get_TouchProbe_Position
8-2
Function name
EtherCAT Programming Guide
Description
Set the servo to On/Off state.
Reset the alarm of the axis. Before applying this
command, please clear the alarm first. Otherwise,
the alarm might occur again.
Set the deceleration time for motor to decelerate
to stop
This is for emergency stop of the axis. The motor
will stop with its maximum deceleration
Set the action when alarm occurs
Specify current feedback position of the axis
Set the motion command data of the axis
Set the motion mode of the axis
Acquire the information of current motion mode
Acquire the current control word of the axis
Acquire the current status word of the axis.
Acquire the current status of motion done
Acquire the current position of the axis.
Acquire the current command information
Acquire the target command data of the axis
Acquire the actual position command of the axis
Acquire the current command data. The data will
vary with to the applied motion mode.
Acquire the current speed of the axis
Acquire the feedback torque from the motor
Acquiring the quantity of the commands that have
not been carried out
Set the mode of the first Touch Probe function
(Touch Probe 1)
Enable the first Touch Probe function (Touch
Probe 1)
Execute the first Touch Probe function (Touch
Probe 1) again
Disable the first Touch Probe function (Touch
Probe 1)
Acquire the current status of the first Touch Probe
function (Touch Probe 1)
Acquire the current position of first Touch Probe
function (Touch Probe 1)
March, 2017