Ecat_Slave_Motion_Get_Actual_Command - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

8.17 _ECAT_Slave_Motion_Get_Actual_Command


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Actual_Command(U16 CardNo, U16 AxisNo,
U16 SlotNo,I32* ActualCommand)

Purpose
This is for acquiring the current command data. The data will vary with to the applied motion
mode.
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 the information of current command.

Parameter
Name
CardNo
AxisNo
SlotNo
ActualCommand

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 ActualCommand;
Status = _ECAT_Slave_Motion_ Get_Actual_Command (CardNo, AxisNo, SlotNo,
&ActualCommand);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
I32* Value
General Operation of Motion Axis
Description
Card No.
Axis No.
Node 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.
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