Delta EtherCAT User Manual

EtherCAT Programming Guide General Operation of Motion Axis
March, 2017 8-21
8
8.17 _ECAT_Slave_Motion_Get_Actual_Command

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Actual_Command(U16 CardNo, U16 AxisNo,
U16 SlotNo,I32* ActualCommand)

Purpose
This is for acquiring the current command data. The data will vary with to the applied motion
mode.
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 the information of current command.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Axis No.
SlotNo U16 Number Node ID
ActualCommand I32* Value
Acquire the current command information:
In CSP mode, the data is the current position.
In CSV mode, the data is the current speed.
In CST mode, the data is the permillage (‰) of current
torque.

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I32 ActualCommand;
Status = _ECAT_Slave_Motion_ Get_Actual_Command (CardNo, AxisNo, SlotNo,
&ActualCommand);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English