Ecat_Slave_Record_Get_Cnt - Delta EtherCAT Programming Manual

EtherCAT Programming Guide

25.3 _ECAT_Slave_Record_Get_Cnt


Syntax
U16 PASCAL _ECAT_Slave_Record_Get_Cnt (U16 CardNo, U16 NodeID,
U16 SlotNo, U16 *Cnt)

Purpose
Acquire the data entry number of the specified axis.
EtherCAT master saves one data in each communication cycle. Each slave can save up to 8
groups of OD data.
Note:
1. It can save 800 data in PAC RTX version and 200 data in EtherCAT motion card. Users can use this
API to check the buffer zone status. Then, use the API in 25.4 to access the data and save it to another
space.
2. When accessing one data by the API (_ECAT_Slave_Record_Read_Data) in 25.4, the acquired data
numbers will reduce 1 automatically.

Parameter
Name
CardNo
NodeID
SlotNo
Cnt

Example
U16 Status = 0;
U16 CardNo=16 , NodeID =1, SlotNo=0;
U16 MonitorIndex =0;
U16 IOType =0, Index=0x607A, SubIndex=1;
U16 Enable =0x07;
U16 Cnt ;
Status= _ECAT_Slave_Record_Set_Type (CardNo, NodeID, SlotNo, MonitorIndex,
IOType, Index, SubIndex);
Status= _ECAT_Slave_Record_Set_Enable (CardNo, NodeID, SlotNo, Enable);
while (1)
{
Status= _ECAT_Slave_Record_Get_Cnt (CardNo, NodeID, SlotNo, &Cnt);
}
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
U16*
Value
Auto Recording Function of Motion Axis
Description
Card number
Node ID
Slot ID
Acquire current data count of the specified axis
25
25-5