Delta EtherCAT User Manual

General Operation of Motion Axis EtherCAT Programming Guide
8-12 March, 2017
8
8.10 _ECAT_Slave_Motion_Get_ControlWord

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_ControlWord (U16 CardNo , U16 AxisNo,
U16 SlotNo, U16 *ControlWord)

Purpose
This is for acquiring the current control word of the axis.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
ControlWord U16* Data
Control word of the axis
(Please refer to the figure below for the definition. For
the reserved items, see the description of each slave.)

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
U16 ControlWord ;
Status = _ECAT_Slave_Motion_Get_ControlWord (CardNo, AxisNo, SlotNo, &ControlWord);
 Description
Definition of 6040H: CANopen communication
Figure 8.2.1 Corresponding bits of control word
Definitions of the control word bits
Bit Name
0 Switch On
1 Enable Voltage (Servo on)
2 Quick Stop
3 Enable Operation (Motor enabled)

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English