Ecat_Slave_Motion_Get_Target_Command - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

8.15 _ECAT_Slave_Motion_Get_Target_Command


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Target_Command (U16 CardNo, U16 AxisNo, U16
SlotNo, I32 *TargetPosition)

Purpose
This is for acquiring the target command data of the axis.

Parameter
Name
CardNo
AxisNo
SlotNo
TargetCommand

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 TargetCommand = 0;
Status = _ECAT_Slave_Motion_Get_Target_Command (CardNo, AxisNo, SlotNo,
&TargetCommand);
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
The command differs from the applied motion mode.
CSP, PP mode: Target position
CSV, PV mode: Target speed
CST, PT mode: Target torque
Homing mode: Returned value will be 0.
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