Ecat_Slave_Motion_Get_Mdone - Delta EtherCAT Programming Manual

General Operation of Motion Axis

8.12 _ECAT_Slave_Motion_Get_Mdone


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Mdone(U16 CardNo, U16 AxisNo, U16 SlotNo, U16
8
*Mdone)

Purpose
This is for acquiring the current status of motion done.

Parameter
Name
CardNo
AxisNo
SlotNo
Mdone

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
U16 Mdone;
Status = _ECAT_Slave_Motion_Get_Mdone (CardNo, AxisNo, SlotNo, &Mdone);
8-16
Data type Property
U16 Number
U16 Number
U16 Number
U16* Status
Description
Card No.
Node ID
Slot ID
In Cyclic Synchronous (CS) mode
0: Idle state
1: Accelerating
2: Constant speed (CSP) / Target speed reached
(CSV) / Target torque reached (CST)
3: Decelerating
5: MailBox processing
In Profile series mode
0: Idle state
1: Motion in progress
EtherCAT Programming Guide
March, 2017