Delta EtherCAT User Manual

General Operation of Motion Axis EtherCAT Programming Guide
8-16 March, 2017
8
8.12 _ECAT_Slave_Motion_Get_Mdone

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Mdone(U16 CardNo, U16 AxisNo, U16 SlotNo, U16
*Mdone)

Purpose
This is for acquiring the current status of motion done.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Mdone U16* Status
In Cyclic Synchronous (CS) mode
0: Idle state
1: Accelerating
2: Constant speed (CSP) / Target speed reached
(CSV) / Target torque reached (CST)
3: Decelerating
5: MailBox processing
In Profile series mode
0: Idle state
1: Motion in progress

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
U16 Mdone;
Status = _ECAT_Slave_Motion_Get_Mdone (CardNo, AxisNo, SlotNo, &Mdone);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English