Ecat_Slave_Motion_Get_Position - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

8.13 _ECAT_Slave_Motion_Get_Position


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Position(U16 CardNo, U16 AxisNo, U16 SlotNo, I32
*Position)

Purpose
This is for acquiring the current position of the axis.
When applying the function of enabling virtual position (_ECAT_Slave_CSP_Virtual_Set_Enable)
in section 9.29, users can acquire the master's virtual position with this API. The virtual position
here signifies the master's position before compensation, which is the machine's actual target
position desired by users.

Parameter
Name
CardNo
AxisNo
SlotNo
Position

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0;
I32 Position=0;
Status = _ECAT_Slave_Motion_Get_Position (CardNo, AxisNo, SlotNo, &Position);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
I32* Value
General Operation of Motion Axis
Description
Card No.
Node ID
Slot ID
Get the current position of the axis.
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