Ecat_Slave_Motion_Get_Torque - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

8.19 _ECAT_Slave_Motion_Get_Torque


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Torque (U16 CardNo, U16 AxisNo, U16 SlotNo, I16
*Torque)

Purpose
This is for acquiring the feedback torque from the motor.

Parameter
Name
CardNo
AxisNo
SlotNo
Torque

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I16 Torque = 0;
Status = _ECAT_Slave_Motion_Get_Torque (CardNo, AxisNo, SlotNo, &Torque);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
I16* permillage
General Operation of Motion Axis
Description
Card No.
Node ID
Slot ID
Get the feedback torque from the motor
).
permillage ‰
8
(
Unit:
8-23