Ecat_Slave_Motion_Get_Statusword - Delta EtherCAT Programming Manual

General Operation of Motion Axis

8.11 _ECAT_Slave_Motion_Get_StatusWord


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_StatusWord (U16 CardNo ,U16 AxisNo ,U16 SlotNo ,
8
U16 * StatusWord)

Purpose
This is for acquiring the current status word of the axis.

Parameter
Name
CardNo
AxisNo
SlotNo
StatusWord

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
U16 StatusWord;
Status = _ECAT_Slave_Motion_Get_StatusWord (CardNo, AxisNo, SlotNo, &StatusWord);

Description
Definition of 6041H: CANopen communication
Definitions of the status word bits
8-14
Data type Property
U16 Number
U16 Number
U16 Number
U16* Data
Figure 8.3.1 Corresponding bits of status word
Bit
0
1
2 Operation Enabled (Motor enabled)
Description
Card No.
Node ID
Slot ID
Status word of the axis
(Please refer to the figure below for the definition of
Control Word. For the reserved items, see the
description of each Slave.)
Name
Ready to Switch On
Switched On
EtherCAT Programming Guide
March, 2017