Delta EtherCAT User Manual

General Operation of Motion Axis EtherCAT Programming Guide
8-18 March, 2017
8
8.14 _ECAT_Slave_Motion_Get_Command

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Command (U16 CardNo, U16 AxisNo, U16 SlotNo,
I32 *Command)

Purpose
This is for acquiring the current command information. The data unit (property) will vary with the
applying motion mode.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Command I32* Data
Acquire the current command information:
In CSP mode, the data is the current position.
In CSV mode, the data is the current speed.
In CST mode, the data is the permillage of current
torque.

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 Command=0;
Status = _ECAT_Slave_Motion_Get_Command (CardNo, AxisNo, SlotNo, &Command);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English