Delta EtherCAT User Manual

Cyclic Synchronous Position Mode (CSP) EtherCAT Programming Guide
9-54 March, 2017
9
9.31 _ECAT_Slave_CSP_Get_SoftLimit_Status

Syntax
U16 PASCAL _ECAT_Slave_CSP_Get_SoftLimit_Status (U16 CardNo, U16 NodeID, U16 SlotNo,
U16 *Status)

Purpose
This is for acquiring the status of software limit.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
NodeID U16 Number Node ID
SlotNo U16 Number Slot ID
Status U16* Value
Acquire the axis position when it reaches negative or
positive limit.
Bit 0: Negative limit
Bit 1: Positive limit

Example
U16 Status;
U16 CardNo=16, NodeID=7, SlotNo=0, Status=0;
Status = _ECAT_Slave_CSP_Get_SoftLimit_Status (CardNo, NodeID, SlotNo, &Status);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English