Delta EtherCAT - Ecat_Slave_Motion_Get_Touchprobe_Status

EtherCAT Programming Guide General Operation of Motion Axis
March, 2017 8-33
8
8.25 _ECAT_Slave_Motion_Get_TouchProbe_Status

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_TouchProbe_Status(U16 CardNo, U16 AxisNo, U16
SlotNo, U16 *Status)

Purpose
This is for acquiring the current status of the first Touch Probe function (Touch Probe 1).
This API can be used to read the value of OD code – 60B9.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
State U16* Value
This API can acquire the current status of the first
Touch Probe function and read the value of OD code –
60B9.
1. Please refer to the definition of Slave CANopen
60B9.
2. Please refer to Description below for Delta’s
product.

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
U16 TouchProbe_Status;
Status = _ECAT_Slave_Motion_Get_TouchProbe_Status(CardNo, AxisNo, SlotNo, &
TouchProbe_Status);

Description
CANopen defines the status of Touch Probe function in OD codes-60B9. However, the applying
method varies with the applied servo drive. Please check the user manual in advance.
The following table illustrates status of Touch Probe function defined by Delta ASDA A2-E and
EtherCAT remote pulse module. (This API does not support the second Touch Probe function.)