Delta EtherCAT User Manual

General Operation of Motion Axis EtherCAT Programming Guide
8-14 March, 2017
8
8.11 _ECAT_Slave_Motion_Get_StatusWord

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_StatusWord (U16 CardNo ,U16 AxisNo ,U16 SlotNo ,
U16 * StatusWord)

Purpose
This is for acquiring the current status word of the axis.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
StatusWord U16* Data
Status word of the axis
(Please refer to the figure below for the definition of
Control Word. For the reserved items, see the
description of each Slave.)

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
U16 StatusWord;
Status = _ECAT_Slave_Motion_Get_StatusWord (CardNo, AxisNo, SlotNo, &StatusWord);
 Description
Definition of 6041H: CANopen communication
Figure 8.3.1 Corresponding bits of status word
Definitions of the status word bits
Bit Name
0 Ready to Switch On
1 Switched On
2 Operation Enabled (Motor enabled)

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English