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March, 2017 8-1

General Operation of

Motion Axis

This chapter presents the APIs for general operation of motion axis, which can be used

to acquire system status or set the motion parameters/commands of motion axis. And

Touch Probe setting is also included.

8.1 _ECAT_Slave_Motion_Set_Svon ······················································ 8-3

8.2 _ECAT_Slave_Motion_Ralm ···························································· 8-4

8.3 _ECAT_Slave_Motion_Sd_Stop ························································ 8-5

8.4 _ECAT_Slave_Motion_Emg_Stop ····················································· 8-6

8.5 _ECAT_Slave_Motion_Set_Alm_Reaction ··········································· 8-7

8.6 _ECAT_Slave_Motion_Set_Position ··················································· 8-8

8.7 _ECAT_Slave_Motion_Set_Command ··············································· 8-9

8.8 _ECAT_Slave_Motion_Set_MoveMode ············································ 8-10

8.9 _ECAT_Slave_Motion_Get_MoveMode ············································ 8-11

8.10 _ECAT_Slave_Motion_Get_ControlWord ········································· 8-12

8.11 _ECAT_Slave_Motion_Get_StatusWord ·········································· 8-14

8.12 _ECAT_Slave_Motion_Get_Mdone ················································ 8-16

8.13 _ECAT_Slave_Motion_Get_Position ··············································· 8-17

8.14 _ECAT_Slave_Motion_Get_Command ··········································· 8-18

8.15 _ECAT_Slave_Motion_Get_Target_Command ·································· 8-19

8.16 _ECAT_Slave_Motion_Get_Actual_Position ····································· 8-20

8.17 _ECAT_Slave_Motion_Get_Actual_Command ·································· 8-21

8.18 _ECAT_Slave_Motion_Get_Current_Speed ····································· 8-22

8.19 _ECAT_Slave_Motion_Get_Torque ················································ 8-23

8.20 _ECAT_Slave_Motion_Get_Buffer_Length ······································· 8-24

8.21 _ECAT_Slave_Motion_Set_TouchProbe_Config ······························· 8-25

8.22 _ECAT_Slave_Motion_Set_TouchProbe_QuickStart ·························· 8-28

8.23 _ECAT_Slave_Motion_Set_TouchProbe_QuickDone ························· 8-30

8.24 _ECAT_Slave_Motion_Set_TouchProbe_Disable ······························ 8-32

8.25 _ECAT_Slave_Motion_Get_TouchProbe_Status ······························· 8-33

8.26 _ECAT_Slave_Motion_Get_TouchProbe_Position ····························· 8-35

Delta EtherCAT User Manual

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