Ecat_Slave_Motion_Get_Movemode - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

8.9 _ECAT_Slave_Motion_Get_MoveMode


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_MoveMode (U16 CardNo , U16 AxisNo , U16 SlotNo,
U8 *Mode)

Purpose
This is for acquiring the information of current motion mode.

Parameter
Name
CardNo
AxisNo
SlotNo
Mode

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
U8 Mode;
Status = _ECAT_Slave_Motion_Get_MoveMode (CardNo, AxisNo, SlotNo, &Mode);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
U8* Mode
General Operation of Motion Axis
Description
Card No.
Node ID
Slot ID
1: Profile Position (PP) mode
2: Velocity mode
3: Profile Velocity (PV) mode
4: Profile Torque (PT) mode
6: Home mode
7: Interpolated Position (IP) mode
8: Cyclic Synchronous Position (CSP) mode
9: Cyclic Synchronous Velocity (CSV) mode
10: Cyclic Synchronous Torque (CST) mode
8
8-11