March, 2017 8-1
General Operation of
Motion Axis
This chapter presents the APIs for general operation of motion axis, which can be used
to acquire system status or set the motion parameters/commands of motion axis. And
Touch Probe setting is also included.
7
8.1 _ECAT_Slave_Motion_Set_Svon ······················································ 8-3
8.2 _ECAT_Slave_Motion_Ralm ···························································· 8-4
8.3 _ECAT_Slave_Motion_Sd_Stop ························································ 8-5
8.4 _ECAT_Slave_Motion_Emg_Stop ····················································· 8-6
8.5 _ECAT_Slave_Motion_Set_Alm_Reaction ··········································· 8-7
8.6 _ECAT_Slave_Motion_Set_Position ··················································· 8-8
8.7 _ECAT_Slave_Motion_Set_Command ··············································· 8-9
8.8 _ECAT_Slave_Motion_Set_MoveMode ············································ 8-10
8.9 _ECAT_Slave_Motion_Get_MoveMode ············································ 8-11
8.10 _ECAT_Slave_Motion_Get_ControlWord ········································· 8-12
8.11 _ECAT_Slave_Motion_Get_StatusWord ·········································· 8-14
8.12 _ECAT_Slave_Motion_Get_Mdone ················································ 8-16
8.13 _ECAT_Slave_Motion_Get_Position ··············································· 8-17
8.14 _ECAT_Slave_Motion_Get_Command ··········································· 8-18
8.15 _ECAT_Slave_Motion_Get_Target_Command ·································· 8-19
8.16 _ECAT_Slave_Motion_Get_Actual_Position ····································· 8-20
8.17 _ECAT_Slave_Motion_Get_Actual_Command ·································· 8-21
8.18 _ECAT_Slave_Motion_Get_Current_Speed ····································· 8-22
8.19 _ECAT_Slave_Motion_Get_Torque ················································ 8-23
8.20 _ECAT_Slave_Motion_Get_Buffer_Length ······································· 8-24
8.21 _ECAT_Slave_Motion_Set_TouchProbe_Config ······························· 8-25
8.22 _ECAT_Slave_Motion_Set_TouchProbe_QuickStart ·························· 8-28
8.23 _ECAT_Slave_Motion_Set_TouchProbe_QuickDone ························· 8-30
8.24 _ECAT_Slave_Motion_Set_TouchProbe_Disable ······························ 8-32
8.25 _ECAT_Slave_Motion_Get_TouchProbe_Status ······························· 8-33
8.26 _ECAT_Slave_Motion_Get_TouchProbe_Position ····························· 8-35
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