Delta EtherCAT

General Operation of Motion Axis EtherCAT Programming Guide
8-22 March, 2017
8
8.18 _ECAT_Slave_Motion_Get_Current_Speed
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Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Current_Speed(U16 CardNo, U16 AxisNo,
U16 SlotNo, I32 *Speed)
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Purpose
This is for acquiring the current speed of the axis.
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Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Speed I32* Value Current speed of the axis.
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Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 Speed;
Status = _ECAT_Slave_Motion_Get_Current_Speed (CardNo, AxisNo, SlotNo, &Speed);