Delta EtherCAT User Manual

General Operation of Motion Axis EtherCAT Programming Guide
8-24 March, 2017
8
8.20 _ECAT_Slave_Motion_Get_Buffer_Length

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Buffer_Length (U16 CardNo, U16 AxisNo,
U16 SlotNo, U16 *BufferLength)

Purpose
This is for acquiring the quantity of the commands that have not been carried out.
EtherCAT master provides a buffer which can store 20 motion commands. When the current
command has not been completely processed and the next motion command is received, the
next command will be put in the buffer temporarily. It will start to be executed after the current
command is finished. When the buffer stores more than 20 commands, the new coming ones will
be ignored. This API can be used to check the buffer status.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
BufferLength U16* Quantity
Get the quantity of the command that has not been
carried out.

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0, BufferLength = 0;
Status = _ECAT_Slave_Motion_Get_Buffer_Length (CardNo, AxisNo, SlotNo,
& BufferLength);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English