Ecat_Slave_Motion_Get_Command - Delta EtherCAT Programming Manual

General Operation of Motion Axis

8.14 _ECAT_Slave_Motion_Get_Command


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Command (U16 CardNo, U16 AxisNo, U16 SlotNo,
8
I32 *Command)

Purpose
This is for acquiring the current command information. The data unit (property) will vary with the
applying motion mode.

Parameter
Name
CardNo
AxisNo
SlotNo
Command

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 Command=0;
Status = _ECAT_Slave_Motion_Get_Command (CardNo, AxisNo, SlotNo, &Command);
8-18
Data type Property
U16 Number
U16 Number
U16 Number
I32* Data
Description
Card No.
Node ID
Slot ID
Acquire the current command information:
In CSP mode, the data is the current position.
In CSV mode, the data is the current speed.
In CST mode, the data is the permillage of current
torque.
EtherCAT Programming Guide
March, 2017