Ecat_Slave_Motion_Get_Touchprobe_Status - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

8.25 _ECAT_Slave_Motion_Get_TouchProbe_Status


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_TouchProbe_Status(U16 CardNo, U16 AxisNo, U16
SlotNo, U16 *Status)

Purpose
This is for acquiring the current status of the first Touch Probe function (Touch Probe 1).
This API can be used to read the value of OD code – 60B9.

Parameter
Name
CardNo
AxisNo
SlotNo
State

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
U16 TouchProbe_Status;
Status = _ECAT_Slave_Motion_Get_TouchProbe_Status(CardNo, AxisNo, SlotNo, &
TouchProbe_Status);

Description
CANopen defines the status of Touch Probe function in OD codes-60B9. However, the applying
method varies with the applied servo drive. Please check the user manual in advance.
The following table illustrates status of Touch Probe function defined by Delta ASDA A2-E and
EtherCAT remote pulse module. (This API does not support the second Touch Probe function.)
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
U16* Value
General Operation of Motion Axis
Description
Card No.
Node ID
Slot ID
This API can acquire the current status of the first
Touch Probe function and read the value of OD code –
60B9.
1. Please refer to the definition of Slave CANopen
60B9.
2. Please refer to Description below for Delta's
product.
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