Ecat_Slave_Motion_Get_Controlword; March, 2017 - Delta EtherCAT Programming Manual

General Operation of Motion Axis

8.10 _ECAT_Slave_Motion_Get_ControlWord


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_ControlWord (U16 CardNo , U16 AxisNo,
8
U16 SlotNo, U16 *ControlWord)

Purpose
This is for acquiring the current control word of the axis.

Parameter
Name
CardNo
AxisNo
SlotNo
ControlWord

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
U16 ControlWord ;
Status = _ECAT_Slave_Motion_Get_ControlWord (CardNo, AxisNo, SlotNo, &ControlWord);

Description
Definition of 6040H: CANopen communication
Definitions of the control word bits
8-12
Data type Property
U16 Number
U16 Number
U16 Number
U16* Data
Figure 8.2.1 Corresponding bits of control word
Bit
0
1
2
3 Enable Operation (Motor enabled)
Description
Card No.
Node ID
Slot ID
Control word of the axis
(Please refer to the figure below for the definition. For
the reserved items, see the description of each slave.)
Name
Switch On
Enable Voltage (Servo on)
Quick Stop
EtherCAT Programming Guide

March, 2017