ReadAxisActualVelocity

Reads the actual velocity from an axis.

Syntax

KsError ReadAxisActualVelocity(
     int Index,
     int* Value
);

Parameters

Index: the index of an axis. Indexes are zero based. Aliases affect this parameter.

Value: pointer to the value to receive the velocity.

Return value

If the function succeeds, it returns errNoError, otherwise an error code. For more information about the error code, see the KsError list.

Remarks

Used in the cyclic callback to check the actual velocity of an axis.

NOTE: Actual velocity is available only if EnableActualVelocity is enabled.

Usable EtherCAT states

ecatOP

Example

Copy

int actualVelocityRead = 0;
nRet = ReadAxisActualVelocity(0, &actualVelocityRead);

Requirements