Ecat_Slave_Csp_Get_Softlimit_Status - Delta EtherCAT Programming Manual

Cyclic Synchronous Position Mode (CSP)

9.31 _ECAT_Slave_CSP_Get_SoftLimit_Status


Syntax
U16 PASCAL _ECAT_Slave_CSP_Get_SoftLimit_Status (U16 CardNo, U16 NodeID, U16 SlotNo,
9
U16 *Status)

Purpose
This is for acquiring the status of software limit.

Parameter
Name
CardNo
NodeID
SlotNo
Status

Example
U16 Status;
U16 CardNo=16, NodeID=7, SlotNo=0, Status=0;
Status = _ECAT_Slave_CSP_Get_SoftLimit_Status (CardNo, NodeID, SlotNo, &Status);
9-54
Data type Property
U16 Number
U16 Number
U16 Number
U16* Value
Description
Card No.
Node ID
Slot ID
Acquire the axis position when it reaches negative or
positive limit.
Bit 0: Negative limit
Bit 1: Positive limit
EtherCAT Programming Guide
March, 2017