Ecat_Slave_Motion_Get_Buffer_Length - Delta EtherCAT Programming Manual

General Operation of Motion Axis

8.20 _ECAT_Slave_Motion_Get_Buffer_Length


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Buffer_Length (U16 CardNo, U16 AxisNo,
8
U16 SlotNo, U16 *BufferLength)

Purpose
This is for acquiring the quantity of the commands that have not been carried out.
EtherCAT master provides a buffer which can store 20 motion commands. When the current
command has not been completely processed and the next motion command is received, the
next command will be put in the buffer temporarily. It will start to be executed after the current
command is finished. When the buffer stores more than 20 commands, the new coming ones will
be ignored. This API can be used to check the buffer status.

Parameter
Name
CardNo
AxisNo
SlotNo
BufferLength

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0, BufferLength = 0;
Status = _ECAT_Slave_Motion_Get_Buffer_Length (CardNo, AxisNo, SlotNo,
& BufferLength);
8-24
Data type Property
U16 Number
U16 Number
U16 Number
U16* Quantity
Description
Card No.
Node ID
Slot ID
Get the quantity of the command that has not been
carried out.
EtherCAT Programming Guide
March, 2017