Ecat_Slave_Motion_Get_Touchprobe_Position - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

8.26 _ECAT_Slave_Motion_Get_TouchProbe_Position


Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_TouchProbe_Position(U16 CardNo, U16 AxisNo, U16
SlotNo, I32 *LatchPosition)

Purpose
This is for acquiring the current position of first Touch Probe function (Touch Probe 1).
EtherCAT master reads the captured position from OD code - 60BA. It is suggested to save the
captured position to PDO mapping table via EcNavi for quick access.

Parameter
Name
CardNo
AxisNo
SlotNo
LatchPosition

Example
U16 Status, TouchProbe_Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 LatchPosition = 0;
U16 TriggerMode =1; // Continuous recording; It will record the pulse (position) once the signal
is triggered.
U16 Signal_Source=1; // Motor's Z pulse signal is regarded as the trigger signal of the first Touch
Probe.
Status = _ECAT_Slave_Motion_Set_TouchProbe_Config(CardNo, AxisNo, SlotNo,
TriggerMode, Signal_Source);
Status = _ECAT_Slave_Motion_Set_TouchProbe_QuickStart(CardNo, AxisNo, SlotNo);
while (1)
{
Status = _ECAT_Slave_Motion_Get_TouchProbe_Status(CardNo, AxisNo, SlotNo, &
TouchProbe_Status);
if (TouchProbe_Status & 0x2)
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
I32* Value
General Operation of Motion Axis
Description
Card No.
Node ID
Slot ID
The captured position; When it captures the signal
again, this value will be updated. Please remember to
save the captured position of each time.
Please refer to the returned value of Slave CANopen
60BA bit2.
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