Delta EtherCAT User Manual

EtherCAT Programming Guide General Operation of Motion Axis
March, 2017 8-35
8
8.26 _ECAT_Slave_Motion_Get_TouchProbe_Position

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_TouchProbe_Position(U16 CardNo, U16 AxisNo, U16
SlotNo, I32 *LatchPosition)

Purpose
This is for acquiring the current position of first Touch Probe function (Touch Probe 1).
EtherCAT master reads the captured position from OD code - 60BA. It is suggested to save the
captured position to PDO mapping table via EcNavi for quick access.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
LatchPosition I32* Value
The captured position; When it captures the signal
again, this value will be updated. Please remember to
save the captured position of each time.
Please refer to the returned value of Slave CANopen
60BA bit2.

Example
U16 Status, TouchProbe_Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 LatchPosition = 0;
U16 TriggerMode =1; // Continuous recording; It will record the pulse (position) once the signal
is triggered.
U16 Signal_Source=1; // Motor’s Z pulse signal is regarded as the trigger signal of the first Touch
Probe.
Status = _ECAT_Slave_Motion_Set_TouchProbe_Config(CardNo, AxisNo, SlotNo,
TriggerMode, Signal_Source);
Status = _ECAT_Slave_Motion_Set_TouchProbe_QuickStart(CardNo, AxisNo, SlotNo);
while (1)
{
Status = _ECAT_Slave_Motion_Get_TouchProbe_Status(CardNo, AxisNo, SlotNo, &
TouchProbe_Status);
if (TouchProbe_Status & 0x2)

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English