Ecat_Slave_Home_Status - Delta EtherCAT Programming Manual

Homing

12.3 _ECAT_Slave_Home_Status


Syntax
12 U16 PASCAL _ECAT_Slave_Home_Status (U16 CardNo, U16 AxisNo, U16 SlotNo,
U16 *Status)

Purpose
This is for acquiring the current homing status.
Note: This API can only be used in homing mode. If it is used in other motion modes, the following returned
code will prompt out: ERR_ECAT_MODE_NOT_SUPPORT (4612)

Parameter
Name
CardNo
AxisNo
SlotNo
Status

Example
U16 Status;
U16 CardNo=1, AxisNo=1, SlotNo=0;
/*Acquire the homing status of the specified axis*/
Status = _ECAT_Slave_Home_Status (CardNo, AxisNo, SlotNo, &Status);
12-20
Data type Property
U16 Number
U16 Number
U16 Number
U16* Status
Description
Card No.
Node ID
Slot ID
Status:
0: Motion not started or homing completed.
1: Homing in progress
2: Homing terminated while the procedure is not
completed
3: Error occurs during homing
EtherCAT Programming Guide
March, 2017