Ecat_Slave_Motion_Get_Actual_Position - Delta EtherCAT Programming Manual

General Operation of Motion Axis

8.16 _ECAT_Slave_Motion_Get_Actual_Position


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Actual_Position(U16 CardNo, U16 AxisNo,
8
U16 SlotNo, I32* ActualPositon)

Purpose
This is for acquiring the actual position command of the axis.
When applying the function of enabling virtual position (_ECAT_Slave_CSP_Virtual_Set_Enable)
in section 9.29, users should use this API to get motor's actual feedback position.

Parameter
Name
CardNo
AxisNo
SlotNo
ActualPosition

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 ActualPosition;
Status = _ECAT_Slave_Motion_Get_Actual_Position(CardNo, AxisNo, SlotNo,
&ActualPosition);
8-20
Data type Property
U16 Number
U16 Number
U16 Number
I32* Value
Description
Card No.
Axis No.
Node ID
Get actual feedback position of the motor.
EtherCAT Programming Guide
March, 2017