ReadAxisSecondEncoder

Reads the current position from an axis using the secondary encoder.

Syntax

KsError ReadAxisSecondEncoder(
     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 current internal position of the axis.

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 internal position of an axis.

NOTE: The internal position is available only if EnableSecondEncoder is enabled.

Usable EtherCAT states

ecatOP

Example

Copy

int secondEncoderRead = 0;
nRet = ReadAxisSecondEncoder(0, &secondEncoderRead);

Requirements