Delta EtherCAT User Manual

EtherCAT Programming Guide General Operation of Motion Axis
March, 2017 8-19
8
8.15 _ECAT_Slave_Motion_Get_Target_Command

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Target_Command (U16 CardNo, U16 AxisNo, U16
SlotNo, I32 *TargetPosition)

Purpose
This is for acquiring the target command data of the axis.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
TargetCommand I32* Value
The command differs from the applied motion mode.
CSP, PP mode: Target position
CSV, PV mode: Target speed
CST, PT mode: Target torque
Homing mode: Returned value will be 0.

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 TargetCommand = 0;
Status = _ECAT_Slave_Motion_Get_Target_Command (CardNo, AxisNo, SlotNo,
&TargetCommand);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English