Ecat_Slave_Record_Read_Data - Delta EtherCAT Programming Manual

Auto Recording Function of Motion Axis

25.4 _ECAT_Slave_Record_Read_Data


Syntax
25
U16 PASCAL _ECAT_Slave_Record_Read_Data (U16 CardNo, U16 NodeID,
U16 SlotNo, U32 *Data)

Purpose
Acquire the recording data of the specified axis. Users can withdraw the data (one by one) in the
buffer and save it to the other files.
Note:
1. It can save 800 data in PAC RTX version and 200 data in EtherCAT motion card. Users can use ththe
API in section 25.3 to check the buffer zone status.
2. When accessing one data by this API, the acquired data numbers will reduce 1 automatically.

Parameter
Name
CardNo
NodeID
SlotNo
Data

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 ;
U32 Data[8];
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);
if (Cnt>0)
{
25-6
Data type Property
U16 Number
U16 Number
U16 Number
U32* Data
Description
Card number
Node ID
Slot ID
Aquire the recording data of the specified axis.
Please note that this API will return 8 data at a time so it
requires sufficient space for storage (Data[8]).
If _ECAT_Slave_Record_Data_Set_Type is not executed,
this API will return 0.
EtherCAT Programming Guide
March, 2017