Delta EtherCAT User Manual

EtherCAT Programming Guide General Operation of Motion Axis
March, 2017 8-23
8
8.19 _ECAT_Slave_Motion_Get_Torque

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_Torque (U16 CardNo, U16 AxisNo, U16 SlotNo, I16
*Torque)

Purpose
This is for acquiring the feedback torque from the motor.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Torque I16* permillage
Get the feedback torque from the motor (Unit:
permillage ‰ ).

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
I16 Torque = 0;
Status = _ECAT_Slave_Motion_Get_Torque (CardNo, AxisNo, SlotNo, &Torque);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English