Delta EtherCAT User Manual

General Operation of Motion Axis EtherCAT Programming Guide
8-20 March, 2017
8
8.16 _ECAT_Slave_Motion_Get_Actual_Position

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Actual_Position(U16 CardNo, U16 AxisNo,
U16 SlotNo, I32* ActualPositon)

Purpose
This is for acquiring the actual position command of the axis.
When applying the function of enabling virtual position (_ECAT_Slave_CSP_Virtual_Set_Enable)
in section 9.29, users should use this API to get motor’s actual feedback position.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Axis No.
SlotNo U16 Number Node ID
ActualPosition I32* Value Get actual feedback position of the motor.

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 ActualPosition;
Status = _ECAT_Slave_Motion_Get_Actual_Position(CardNo, AxisNo, SlotNo,
&ActualPosition);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English