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DELTA ELECTRONICS CO., LTD. PCI-DMC-A01 PCI - DMC-B01 High-Speed PCI 12-Axis Motion Control Card Programming Manual Version: 1.11.1.
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PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual Revised March, 2 012 i About this Manual User Information Please keep this manual in a safe place. This manual is subject to change without notice due to the release of new products, improvements and changes in technologies, and/or modifications to data and forms.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual ii Revised March, 2012 Table of Contents Chapter 1 Introduction to th e API Function Li brary --------------------------------------------------- 1-1 1.1 Using the Function Libraries ---------------------------------------------------------------------- 1-1 1.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual Revised March, 2 012 iii 3.7 Velocity Motion Control (2) ----------------------------------------------------------------------- 3-19 3.7.1 Function List ------------------------------------------------------------------------------ 3-19 3.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual iv Revised March, 2012 3.18 Change Velo city ------------------------------------------------------------------------------------ 3-63 3.18.1 Function List ------------------------------------------------------------------------------ 3-63 3.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual Revised March, 2 012 v 3.30 Axis Gr oup ----------------------------------------------------------------------------------------- 3-116 3.30.1 Function List ---------------------------------------------------------------------------- 3-116 3.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual vi Revised March, 2012 6.14 _DMC_01_get_dio_ input -------------------------------------------------------------------------- 6-9 6.15 _DMC_01_get_cycl e_time ------------------------------------------------------------------------ 6-9 6.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual Revised March, 2 012 vii Chapter 12 Torque Motion Cont rol Packet Prot ocol API -------------------------------------------- 12-1 12.1 _DMC_01_set _torque_m ode ------------------------------------------------------------------- 12-2 12.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual viii Revised March, 2012 Chapter 18 1-Axis Mo tion Contro l API -------------------------------------------------------------------- 18-1 18.1 _DMC_01_start _tr_move ------------------------------------------------------------------------ 18-2 18.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual Revised March, 2 012 ix 20.13 _DMC_01_start_spi ral_xy --------------------------------------------------------------------- 20-27 20.14 _DMC_01_start_spi ral2_xy -------------------------------------------------------------------- 20-29 20.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual x Revised March, 2012 25.8 _DMC_01_set_rm _output_acti ve -------------------------------------------------------------- 25-9 Chapter 26 MPG and JOG Operation API ----------------------------------------------------------------- 26-1 26.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual Revised March, 2 012 xi 29.3 _DMC_01_rm_04da_get _return_code ------------------------------------------------------- 29-4 29.4 _DMC_01_rm_04da_set _output_r ange ------------------------------------------------------ 29-5 29.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual xii Revised March, 2012 33.3 _DMC_01_maste r_alm_ code ------------------------------------------------------------------- 33-4 33.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual Revised March, 2 012 xiii Chapter 38 Limit Reversal API ------------------------------------------------------------------------------- 38-1 38.1 _ DMC_01_rm_04pi_set _MEL_pol arity ------------------------------------------------------ 38-2 38.
PCI-DMC-A01 / PCI-DM C-B01 Programmi ng Manual xiv Revised March, 2012 Chapter 42 Other API -------------------------------------------------------------------------------------------- 42-1 42.1 _misc_app_get_cir cle_endpoint ---------------------------------------------------------------- 42-2 42.
Chapter 1 Introduction to the API Function Library | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 1-1 Chapter 1 Introduction to the API Function Library PCI-DMC-A01 provides a function library and dynamic-link library (DLL) which can be called upon to perform functions as you require.
Chapter 1 Introduction to the API Function Library | PCI-DMC-A01 / PCI-DMC-B01 1-2 Revised March, 2012 2. Under the Borland C++ Build development environment, select View/ Project Manager Add the function library “..libBCBPCI_ DMC_01.lib” to your new project.
Chapter 2 Command Return Values and M essages | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 2-1 Chapter 2 Command Return Values and Messages 2.1 Error Codes When you use API for PCI-DMC-A01, the func tion library will generally return one of the error codes listed in Table 2.
Chapter 2 Command Return Values and M essages | PCI-DMC-A01 / PCI-DMC-B01 2-2 Revised March, 2012 Error Return Code (Decimal) Error Code Error Description 21 ERR_SpeedLimitError Defined velocity excee.
Chapter 2 Command Return Values and M essages | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 2-3 Error Return Code (Decimal) Error Code Error Description 133 ERR_SDStop_On Currently executing deceler.
Chapter 2 Command Return Values and M essages | PCI-DMC-A01 / PCI-DMC-B01 2-4 Revised March, 2012 2.2 Error Code Example The following example is a return function. Y ou can use it as a reference to create new functions that meet your control requirements.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-1 Chapter 3 Operating Principles 3.1 Card Initialization 3.1.1 Function List Table 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-2 Revised March, 2012 Click on the “Open card” button to exec ute the following procedure: /* gDMCExistCards variable is set as the number of PCI- DMC-A01 on the PC*/ rt = _DMC_01_open(&g DMCExistCards); 2) Card initialization Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-3 NOTE _DMC_01_get_device_table Get the Slot ID using the PDO protocol Example: gpDeviceInfo[gDMCCa rdNo] is a “WORD” type variable.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-4 Revised March, 2012 3.2 Read/Write Driver Parameters 3.2.1 Function List Table 3.2 Function Name _DMC_01_set_pdo_mode _DMC_01_read_servo_parameter _DMC_01_write_servo_parameter 3.2.2 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-5 The last argument [Enable] is used to set whether PDO mode is used for Slave communications or not. Please refer to t he section on this function for a more detailed description of this argument.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-6 Revised March, 2012 4) Write servo parameter Figure 3.10 As shown in Fig. 3.10, if you wish to writ e a parameter value to servo then yo.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-7 3.3 CANopen Protocol 3.3.1 Function List Table 3.3 Function Name _DMC_01_set_pdo_mode _DMC_01_send_message _DMC_01_read_message _DMC_01_get_message 3.3.2 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-8 Revised March, 2012 You input the value of the “NodeID”. The va lue will reflect the Slave ID you wish to set up. Please refer to th CANopen manual (DS 402) for setting the “Index”, “Sub” and “Type” values.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-9 3.4 Homing Motion Control 3.4.1 Overview Most application programs use an incremental encoder to retrieve position feedback. A homing operation is essential to performing accurate motion c ontrol.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-10 Revised March, 2012 3.4.2 Function List Table 3.4 Function Name _DMC_01_set_home_config _DMC_01_set_home_move _DMC_01_escape_home_move 3.4.3 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-11 2) Enter the values of t he arguments for motion control Figure 3.18 NodeID item: API function's argument variable “NodeID”. Timer Checkbox: Check to display the motion status .
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-12 Revised March, 2012 5) Homing operation See Fig. 3.20. Click on “Move” to begi n executing the following procedure; /* Set homing m.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-13 3.5 Torque Motion Control 3.5.1 Function List Table 3.5 Function Name _DMC_01_set_torque_mode _DMC_01_set_torque _DMC_01_set_torque_stop _DMC_01_get_torque 3.5.2 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-14 Revised March, 2012 Input Node ID and check the “Timer” check box to enable motion status display NodeID item: API function argument variable “NodeID”. Timer Checkbox: Check to display the motion status .
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-15 7) Exit procedure Click on the “Exit” button to quit and exit the procedure. “_DMC_01_reset_card” and “_DMC_01_close ” must be executed to exit this function.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-16 Revised March, 2012 3.6 Velocity Motion Control (1) 3.6.1 Function List Table 3.6 Function Name _DMC_01_set_velocity_mode _DMC_01_set_velocity _DMC_01_set_velocity_stop _DMC_01_get_rpm 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-17 Input Node ID and check the “Timer” check box to enable motion status display NodeID item: API function's argument variable “NodeID”. Timer Checkbox: Check to display the motion status .
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-18 Revised March, 2012 6) Display current RPM value rt = _DMC_01_get_rpm (gDMCCardNo , NodeID, SlotID, & rpm); // Value returned by RPM variableActual mo tion RPM is 10% of RPM variable value 7) Exit procedure Click on the “Exit” button to quit and exit the procedure.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-19 3.7 Velocity Motion Control (2) 3.7.1 Function List Table 3.7 Function Name _DMC_01_tv_move _DMC_01_sv_move _DMC_01_emg_stop 3.7.2 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-20 Revised March, 2012 3) Enter the values of t he arguments for motion control Figure 3.31 StrVel item: Starting velocity. API function' s argument variable “StrVel”. MaxVel item: Maximum velocity.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-21 3.8 Point to Point Motion Control 3.8.1 Overview Point to point motion control can be used with single and multi-axes.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-22 Revised March, 2012 3.8.3 Sample Application Program Appearance Figure 3.33 1) Card initialization Click on the “Initial” button to open and initialize the card.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-23 3) Enter the values of t he arguments for motion control Figure 3.35 StrVel item: Starting velocity. API function' s argument variable “StrVel”. MaxVel item: Maximum velocity.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-24 Revised March, 2012 6) Start point to point motion control Click on the “ ” or “ “ button to execute the following proc.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-25 Motion counter value: rt = _DMC_01_get_command(gDMCCardNo , NodeID, SlotID, &cmd); // Get value of command coun.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-26 Revised March, 2012 3.9 Linear Interpolation Motion Control 3.9.1 Overview If you wish to use CANopen PDO protocol fo r motion control you must operate in the CANopen IP mode.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-27 3.9.3 Sample Application Program Appearance Figure 3.41 1) Card initialization Click on the “Initial” button to start card initialization. For a detailed description of card initialization, please refer to Section 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-28 Revised March, 2012 3) Enter the values of t he arguments for motion control Figure 3.43 StrVel item: Starting velocity. API function' s argument variable “StrVel”. MaxVel item: Maximum velocity.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-29 6) Start motion control with linear interpolation in 2 or 3 axes Click on the “ ” or “ “ button to .
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-30 Revised March, 2012 7) Stop motion Figure 3.46 Hit the “STOP” button to execute an emergency stop: rt = _DMC_01_emg_stop (gDMCCardNo, NodeID, SlotID); In this example, emergency stop is used to stop motion.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-31 3.10 Arc Interpolation Motion Control 3.10.1 Overview PCI-DMC-A01 supports 2-axis arc interpolat ion in absolute or relative coordinate motion modes under the S-curve or T-curve velo city cross-section.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-32 Revised March, 2012 3.10.3 Sample Application Program Appearance Figure 3.48 1) Card initialization Click on the “Initial” button to open and initialize the card.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-33 StrVel item: Starting velocity. API function' s argument variable “StrVel”. MaxVel item: Maximum velocity. API function's argument variable “MaxVel”.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-34 Revised March, 2012 ➌ Cen_X item: Center's x-coordinate. API function's argument variable “arc3_cen_x”. Cen_Y item: Center's y-coordinate. API function's argument variable “arc3_cen_y”.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-35 2-axis arc interpolation using interpolation method 2 (Arc2). rt = _DMC_01_start_sa_arc2_xy(gDMCCard No, gArcNode, .
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-36 Revised March, 2012 Hit the “STOP” button to execute an emergency stop: rt = _DMC_01_emg_stop (gDMCCardNo, NodeID, SlotID); In this example, emergency stop is used to stop motion. This method quickly stops motion by setting deceleration time to 0.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-37 3.11 Spiral Interpolation Motion Control -Helix 3.11.1 Function List Table 3.11 Function Name _DMC_01_start_tr_heli_xy _DMC_01_start_sr_heli_xy _DMC_01_start_ta_heli_xy _DMC_01_start_sa_heli_xy 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-38 Revised March, 2012 1) Card initialization Click on the “Initial” button to open and initialize the card. For a detailed description of card initiali zation, please refer to “Open card” and “Card initialization” in Section 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-39 rt = _DMC_01_motion_status(gDMCCardNo , NodeID, SlotID, &MC_status); // Get current status rt = _DMC_01_motion_.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-40 Revised March, 2012 Figure 3.57 4) Set Servo Motor Power ON/OFF(servo on/servo off) Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-41 6) Stop motion Hit the “STOP” button to execute an emergency stop: rt = _DMC_01_emg_stop (gDMCCardNo, NodeID, SlotID); In this example, emergency stop is used to stop motion.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-42 Revised March, 2012 3.12 Continuous Interpolation Motion Control 3.12.1 Overview A series of motion commands can be us ed to describe a square path with rounded corners.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-43 3.12.3 Sample Application If you wish to perform the continuous interp olation motion illustrated below, you must execute the following procedure and carry out the commands from ➀ ~ ➇ : Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-44 Revised March, 2012 1) Card initialization Click on the “Initial” button to open and initialize the card. For a detailed description of card initiali zation, please refer to “Open card” and “Card initialization” in Section 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-45 5) Set Servo Motor Power ON/OFF(servo on/servo off) Figure 3.65 Click on the “SVON” button to ex ecute the foll.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-46 Revised March, 2012 V-T diagram of actual X-axis motion: Figure 3.66 7) Stop motion Hit the “STOP” button to execute an emergency stop: rt = _DMC_01_emg_stop (gDMCCardNo, NodeID, SlotID); In this example, emergency stop is used to stop motion.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-47 3.13 Software Limit Control 3.13.1 Function List Table 3.13 Function Name _DMC_01_start_sr_move _DMC_01_start_tr_mo.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-48 Revised March, 2012 1) Card initialization Click on the “Initial” button to start card initialization. For a detailed description of card initialization, please refer to Section 3.1.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-49 5) Set positive/negative value limit, stop mo tion mode, and whether software limit is enabled Figure 3.71 N-Limit item: Value of negative limit. API functi on's argument variable “NLimit”.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-50 Revised March, 2012 9) Start motion control (Using point to point motion control as an example) Click on the “ ” or “ ”.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-51 3.14 Synchronization Motion Control 3.14.1 Function List Table 3.14 Function Name _DMC_01_sync_move _DMC_01_sync_move_config 3.14.2 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-52 Revised March, 2012 2) Choose whether to enable syn chronization motion control Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-53 5) Select motion mode and set motion distance. Figure 3.78 Abs. Checkbox: You must check this if you w ant motion displacement to use absolute coordinates. S-Curve checkbox: You must check this box if you wish to use the S-curve velocity curve.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-54 Revised March, 2012 8) Stop motion Hit the “STOP” button to execute an emergency stop: rt = _DMC_01_emg_stop (gDMCCardNo, NodeID, SlotID); In this example, emergency stop is used to stop motion.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-55 3.15 Dwell Command 3.15.1 Function List Table 3.15 Function Name _DMC_01_start_ta_move _DMC_01_buf_dwell 3.15.2 Sample Application Program Appearance Figure 3.80 1) Card initialization Click on the “Initial” button to open and initialize the card.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-56 Revised March, 2012 3) In the following example, adding the dwell command between continuous motion commands will ensure the executi on.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-57 3.16 Change Position 3.16.1 Function List Table 3.16 Function Name _DMC_01_start_ta_move _DMC_01_p_change 3.16.2 Sample Application Program Appearance Figure 3.83 1) Card initialization Click on the “Initial” button to open and initialize the card.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-58 Revised March, 2012 Input Node ID and check “Timer” checkb ox to enable motion status display NodeID item: API function's argument variable “NodeID”. Timer Checkbox: Check to display the motion status .
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-59 7) If you want to change position of current mo tion to a new position, you must click on “P change” to execute.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-60 Revised March, 2012 3.17 Change Position 3.17.1 Function List Table 3.17 Function Name _DMC_01_start_ta_move _DMC_01_v_change 3.17.2 Sample Application Program Appearance Figure 3.87 1) Card initialization Click on the “Initial” button to open and initialize the card.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-61 2) Set Servo Node ID and enable motion status display Figure 3.88 Input Node ID and check “Timer” checkb ox to enable motion status display NodeID item: API function's argument variable “NodeID”.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-62 Revised March, 2012 5) Set Servo Motor Power ON/OFF(servo on/servo off) Click on the “SVON” button to ex ecute the following proced.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-63 3.18 Change Velocity 3.18.1 Function List Table 3.18 Function Name _DMC_01_start_sa_move_2seg _DMC_01_start_ta_move_2seg _DMC_01_start_sr_move_2seg _DMC_01_start_tr_move_2seg 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-64 Revised March, 2012 2) Set Servo Node ID and enable motion status display Figure 3.92 Input Node ID and check “Timer” checkb ox to enable motion status display NodeID item: API function's argument variable “NodeID”.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-65 5) Set distance and velocity for 2nd motion Figure 3.95 2 nd dist item: Value of distance for 2nd motion. API function's argument variable “Dist2”. 2 nd vel item: Value of velocity for 2nd motion.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-66 Revised March, 2012 9) Stop motion Hit the “STOP” button to execute an emergency stop: rt = _DMC_01_emg_stop (gDMCCardNo, NodeID, SlotID); In this example, emergency stop is used to stop motion.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-67 3.19 Remote I/O Module-I/O Port 3.19.1 Function List Table 3.19 Function Name _DMC_01_set_rm_input_filter _DMC_01_s.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-68 Revised March, 2012 2) When setting the ASD-DMC-RM32MN module initialization param eters, you must execute the following procedure: rt .
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-69 // The Output_value[1] variable will store the value to be out put for bit 0 to bit 15 of Port 1 /* Enable output *.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-70 Revised March, 2012 3.20 Remote I/O Module- Manual Pulse Generator (1) 3.20.1 Function List Table 3.20 Function Name DMC_01_get_rm_input_value _DMC_01_set_rm_mpg_axes_enable _DMC_01_set_rm_mpg_axes_enable2 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-71 Input Node ID and check “Timer” checkb ox to enable motion status display NodeID item: API function's argument variable “NodeID”. Timer Checkbox: Check to display the motion status .
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-72 Revised March, 2012 6) Stop manual position control If you wish to stop using the MPG, si mply uncheck the “MPG” or “MPG2” checkboxes.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-73 3.21 Remote I/O Module- Manual Pulse Generator (2) 3.21.1 Function List Table 3.21 Function Name _DMC_01_get_rm_input_value _DMC_01_set_rm_mpg_axes_enable _DMC_01_set_rm_jog_axes_enable 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-74 Revised March, 2012 2) Set Servo Node ID and enable motion status display Figure 3.101 Enter Node ID and check “Timer” checkb ox to enable motion status display NodeID item: API function's argument variable “NodeID”.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-75 6) If you wish to use the MPG function, you must check the “MPG” ch eckbox and execute the following procedure:.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-76 Revised March, 2012 3.22 Remote Pulse Interface Module -Mode 1 3.22.1 Function List Table 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-77 3.22.2 Sample Application Program Appearance Figure 3.104 1) Card initialization Click on the “Initial” button to open and initialize the card.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-78 Revised March, 2012 3) Enter the values of t he arguments for motion control Figure 3.106 Dist. item: Set motion distance. API function' s argument variable “Distance”. StrVel item: Starting velocity.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-79 5) Set Home motion mode and offset: Figure 3.108 Mode item: Select Home motion mode. API function's argument variable “home_mode”. Offset item: Set Home motion offset.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-80 Revised March, 2012 8) Set the new velocity, deceleration time and enable position change for new position. Figure 3.110 New Vel item: Set new velocity. API function' s argument variable “NewSpeed”.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-81 11) Enable software limit Figure 3.113 If you wish to use the software limit function, you must firs t set the “P.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-82 Revised March, 2012 rt = _DMC_01_rm_04pi_md1_p_change(Card No, NodeID, SlotID, NewPos); 15) Change velocity Under mode 1, RM04PI will replace the current velocity with the new velocity.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-83 3.23 Remote Pulse Interface Module -Mode 2 3.23.1 Function List Table 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-84 Revised March, 2012 1) Card initialization Click on the “Initial” button to open and initialize the card. For a detailed description of card initiali zation, please refer to “Open card” and “Card initialization” in Section 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-85 4) Enter the values of t he arguments for motion control Figure 3.117 Abs. Checkbox: You must check this if you w ant motion displacement to use absolute coordinates.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-86 Revised March, 2012 7) Start motion control (Using point to point motion control as an example) Click on the “ ” or “ ”.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-87 3.24 Get (Calculate ) Arc Information 3.24.1 Function List Table 3.24 Function Name _misc_app_get_circle_endpoint _misc_app_get_circle_center_point 3.24.2 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-88 Revised March, 2012 1) Card initialization Click on the “Initial” button to open and initialize the card. For a detailed description of card initiali zation, please refer to “Open card” and “Card initialization” in Section 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-89 4) When you complete the arc calculati on and get the data you require for arc interpolation motion, you can begin motion control for arc interpolation. Enter the data required for arc interpolation as shown in Fig.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-90 Revised March, 2012 3.25 Control Interrupt 3.25.1 Function List Table 3.26 Function Name _DMC_01_int_enable _DMC_01_int_disable _DMC_01_set_int_factor _DMC_01_get_int_count 3.25.2 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-91 1) Card initialization: Click on the “Initial” button to start card initialization. For a detailed description of card initialization, please refer to Section 3.1.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-92 Revised March, 2012 Abs. checkbox: You must check this if you want motion displacement to use absolute coordinates. S-Curve checkbox: You must check this box if you wish to use the S-curve velocity curve.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-93 8) Start motion control (Using point to point motion control as an example) Click on the “ ” or “ ”.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-94 Revised March, 2012 3.26 MasterCard Security 3.26.1 Function List Table 3.26 Function Name _DMC_01_check_userpassword _DMC_01_write_use.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-95 3.26.2 Sample Application Program Appearance Figure 3.129 1) Card initialization: Click on the “Open card” button to start card initialization. For a detailed description of card initialization, please refer to Section 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-96 Revised March, 2012 2) Start motion card login operation. (Ser ialNo, Verifykey, Memory Read/Write all require Check Password Pass to operate). Figure 3.130 Password item: Enter two sets of 1~8 bit 0~F hex adecimal values.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-97 4) Set up Verifykey Figure 3.132 SerialNo. display: The motion card's serial number is displayed here. Read Serial No item: Read the serial number of the motion card.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-98 Revised March, 2012 6) Check Verify key Figure 3.134 Page item: Enter the value of the Memory Page (0 ~ 9) to read or write. Read item: Execute read of selected Memory P age and display in “Read” item.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-99 /* Check to see if value of Verify Key is correct*/ rt =_DMC_01_check_verifykey(gDM CCardNo,verifykey(0),state); Clicking on Read button in Fig.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-100 Revised March, 2012 3.27 Remote Analog Input/Output Module 3.27.1 Function List Table 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-101 3.27.2 Sample Application Program Appearance Figure 3.135.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-102 Revised March, 2012 1) Card initialization: Click on the “Initial” button to start card initialization. For a detailed description of card initiali zation, please refer to Section 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-103 4) Select AD Conversion Time mode: Figure 3.138 Conversion Time item: Select Conversion Time mode. 5) Select AD Channel / Dis play mode / Average data. Figure 3.139 Channel item: Select Channel for AD enable input.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-104 Revised March, 2012 7) If the Mode option in Fig. 3.136 is sele cted, execute the following procedure: /*First, reset O ffset to 0 */ .
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-105 /* Set AD input range mode*/ rt =_DMC_01_set_04ad_in put_range(gDMCCardNo,ADNo deID,SlotID,ChannelAD, mode); If the Average option in Fig.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-106 Revised March, 2012 3.28 Spiral Interpolatio n Motion Control -Spiral 3.28.1 Function List Table 3.28 Function Name _DMC_01_start_spiral_xy _DMC_01_start_spiral2_xy 3.28.2 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-107 2) Enable motion status display Figure 3.142 Timer Checkbox: Check to display the motion status . Uncheck to disable display. 3) Spiral motion parameter settings: Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-108 Revised March, 2012 4) Spiral2 motion parameter settings: Figure 3.144 Center_X item: Spiral center point's X-coordinate, API function's argument variable “Center_X”.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-109 5) Select motion mode Figure 3.145 Abs. Checkbox: You must check this if you w ant motion displacement to use absolute coordinates. S-Curve checkbox: You must check this box if you wish to use the S-curve velocity curve.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-110 Revised March, 2012 9) Stop motion Click on the “STOP” button to execute slow down stop for current point to point motion. rt = _DMC_01_sd_stop(gDMCCard No, NodeID, SlotID, dec); In this example, deceleration is used to st op displacement motion.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-111 3.29 Position Compare 3.29.1 Function List Table 3.29 Function Name _DMC_01_set_compare_channel_position _DMC_01_g.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-112 Revised March, 2012 3.29.2 Sample Application Program Appearance Figure 3.147 1) Card initialization: ※ First, check to ensure hat the card y ou have installed is the PCI-DMC-B01 interface card.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-113 Card item: Enter ID of PCI_DMC_B01 card to use. Node item: Select Node ID. This should match the QEP1 or QEP2. QEP1 item: Example: If Channel 0 is selected, then Node ID should be Node 1.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-114 Revised March, 2012 QEP1 Inverse item: Reverse. Click on this button to execute the following settings: rt = _DMC_01_set_compare_channel_di rection(CpCardNo,0,dir); // dir:0 or 1 QEP2 Inverse item: Reverse.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-115 Else //Compare2 First, set output to disable rt = _DMC_01_channel1_out put_enable(CpCardNo,0); // 0:off 1:on I.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-116 Revised March, 2012 3.30 Axis Group 3.30.1 Function List Table 3.30 Function Name _DMC_01_set_group 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-117 1) Card initialization: Click on the “Open card” button to start card initialization. For a detailed description of card initialization, please refer to Section 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-118 Revised March, 2012 4) Exit procedure Click on the “Exit” button to qui t and exit the procedure. Exit function requires “_DMC_01_reset_c ard” and _DMC_01_close” to be used. For a detailed description of t hese two API please refer to section 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-119 3.31 Speed Continue 3.31.1 Function List Table 3.31 Function Name _DMC_01_speed_continue _DMC_01_speed_continue_mode _DMC_01_speed_continue_combine_ratio 3.31.2 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-120 Revised March, 2012 1) Card initialization: Click on the “Open card” button to start card initialization. For a detailed description of card initialization, please refer to Section 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-121 4) Demonstration: Figure 3.159 Example 1 item: Clicking on this will enter a Speed Continue demonstration programs shown in Fig.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-122 Revised March, 2012 3.32 Spiral Interpolation - He lix Using -Sp1_ Normal Follow 3.32.1 Function List Table 3.32 Function Name _DMC_01_start_tr_heli_xy 3.32.2 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-123 1) Card initialization: Click on the “Open card” button to start card initialization. For a detailed description of card initialization, please refer to Section 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-124 Revised March, 2012 Remarks: If Z-axis completes one revolution CW over the distance of Pitch, then if Dr = 0 Depth is a positive number as well.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-125 When Example 2 and Tangent are selected, the result is as shown below: Figure 3.164 Example 1: In this example, X and Y axes are used to make the tool move along rounded corner and straight lines.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-126 Revised March, 2012 /* MotionStep1. Move the three axes to job start point */ _DMC_01_start_sa_move(CardNo, NodeID3[0], SlotID3[0], 0, 0, MaxVel, 0.1, 0.1); _DMC_01_start_sa_move(CardNo, NodeID3[1], SlotID3[1], 0, 0, MaxVel, 0.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-127 Example 2: In this example, X and Y axes are used to make the tool move along rounded corner and straight lines. The t ool on the Z-axis is always at a normal or tangent to the shape.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-128 Revised March, 2012 /* MotionStep4. Wait for first step of job to finish executing */ rt[0] = _DMC_01_get_command(CardNo, NodeID3[0], .
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-129 /* MotionStep10. Wait for Z- axis tool to move into position (End action) */ rt[2] = _DMC_01_get_command(CardNo, NodeID3[2], SlotID3[2], &Cmd[2]); if ((rt[2] == 0) && (Cmd [2] == TempSaveData)) { MotionStep = 11; } /* MotionStep11.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-130 Revised March, 2012 3.33 Logger 3.33.1 Function List Table 3.99 Function Name _misc_set_record_debuging _misc_open_rec ord_debuging_file 3.33.2 Sample Application Program Appearance Figure 3.
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 3-131 2) Debug enable and disable Figure 3.166 If you wish to enable the Debug function, you must execute the following .
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B 01 3-132 Revised March, 2012 4) Start any kind of motion control under PDO mode 5) Log record output Fig. 3.998 is shows the log of functions and value changes used by motion control displayed in the debug window of the Vis ual Studio 6 development environment.
Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC- B01 Revised March, 2012 4-1 Chapter 4 Control API 4.1 Data Type and Range Under the “incVC” folder in the installation is a file named “TYPE_DEF.H”. The file defines all the standard data types. Table 4.
Chapter 4 Control API | PCI-DM C-A01 / PCI-DMC-B01 4-2 Revised March, 2012 4.2 Function Descripti on Table 4.2 Hardware Initialization API _DMC_01_open Initialize system re sources when program is run.
Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC- B01 Revised March, 2012 4-3 _DMC_01_send_message3 Send SDO command message to data buffer and exit data buffer once command is set _DMC_01_read_message R.
Chapter 4 Control API | PCI-DM C-A01 / PCI-DMC-B01 4-4 Revised March, 2012 _DMC_01_sd_stop All motion commands in buffer will execute slow down stop based on deceleration time _DMC_01_sd_abort Current.
Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC- B01 Revised March, 2012 4-5 _DMC_01_start_sr_move_2seg 2nd motion displacement using relative coordinates with S-curve velocity cross-section _DMC_01_sta.
Chapter 4 Control API | PCI-DM C-A01 / PCI-DMC-B01 4-6 Revised March, 2012 _DMC_01_start_tr_arc2_xy 2-axis arc interpolation motion using relative coordinates with T-curve velocity cross-section (Know.
Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC- B01 Revised March, 2012 4-7 _DMC_01_start_v3_arc3_xy 2-axis arc interpolation motion with EndVel added (Known conditions: Center point coordinates, endpo.
Chapter 4 Control API | PCI-DM C-A01 / PCI-DMC-B01 4-8 Revised March, 2012 _DMC_01_set_rm_input_filter Set software filter level for input port of the remote I/O module _DMC_01_set_rm_input_filter_ena.
Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC- B01 Revised March, 2012 4-9 _DMC_01_rm_04pi_md1_start_arc2 Perform 2-axis arc interpolation motion control under RM04PI Mode 1 (Known conditions: Endpoin.
Chapter 4 Control API | PCI-DM C-A01 / PCI-DMC-B01 4-10 Revised March, 2012 4-Channel Analog Input Remote Module API _DMC_01_set_04ad_input_range Set AD input range _DMC_01_get_04ad_input_range Get cu.
Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC- B01 Revised March, 2012 4-11 _DMC_01_get_int_count Interrupt count. _DMC_01_get_int_status Get current interrupt status _DMC_01_Link_interrupt Link handling procedure.
Chapter 4 Control API | PCI-DM C-A01 / PCI-DMC-B01 4-12 Revised March, 2012 _DMC_01_set_compare_channel_direction Set Channel pulse direction _DMC_01_set_compare_channel_trigger_ time Set Trigger enab.
Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC- B01 Revised March, 2012 4-13 Other API _misc_app_get_circle_endpoint Get endpoint coordinates (X, Y) required for arc interpolation _misc_app_get_circle_.
Chapter 4 Control API | PCI-DM C-A01 / PCI-DMC-B01 4-14 Revised March, 2012 (This page intentionally left blank.).
Chapter 5 Hardware Initialization API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 5-1 Chapter 5 Hardware Initialization API Table 5.1 Function Name Description _DMC_01_open Initialize system reso.
Chapter 5 Hardware Initialization API | PCI-DMC-A01 / PCI-D MC-B01 5-2 Revised March, 2012 5.1 _DMC_01_open FORMAT I16 PASCAL _DMC_01_open (I16* existcard) Purpose Initializes system resources when program is run.
Chapter 5 Hardware Initialization API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 5-3 5.3 _DMC_01_get_CardNo_seq FORMAT I16 PASCAL _DMC_01_get_CardNo_seq (U16 CardNo _seq,U16* CardNo) Purpose Retrieves the number of all PCI-DMC-A 01 interface cards in the system.
Chapter 5 Hardware Initialization API | PCI-DMC-A01 / PCI-D MC-B01 5-4 Revised March, 2012 5.4 _DMC_01_pci_initial FORMAT I16 PASCAL _DMC_01_pci_initial (U16 CardNo) Purpose Initializes this PCI card.
Chapter 6 Interfac e API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 6-1 Chapter 6 Interface API Table 6.1 Function Name Description _DMC_01_initial_bus Initialize external bus _DMC_01_start_ring.
Chapter 6 Interface API | PCI-DM C-A01 / PCI-DMC- B01 6-2 Revised March, 2012 6.1 _DMC_01_initial_bus FORMAT I16 PASCAL _DMC_01_initial_bus (U16 CardNo) Purpose Initializes the external bus.
Chapter 6 Interfac e API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 6-3 6.3 _DMC_01_get_device_table FORMAT I16 PASCAL _DMC_01_get_device_table (U16 CardNo, U16* valu e) Purpose Retrieves the device table.
Chapter 6 Interface API | PCI-DM C-A01 / PCI-DMC- B01 6-4 Revised March, 2012 6.5 _DMC_01_check_card_running FORMAT I16 PASCAL _DMC_01_check_card_running (U16 CardNo, U16* running) Purpose Checks to see if the card is running.
Chapter 6 Interfac e API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 6-5 6.7 _DMC_01_check_nodeno FORMAT I16 PASCAL _DMC_01_check_nodeno(U16 CardNo, U16 NodeID, U16 SlotID,U16* exist) Purpose Checks to see if the node already exists.
Chapter 6 Interface API | PCI-DM C-A01 / PCI-DMC- B01 6-6 Revised March, 2012 6.8 _DMC_01_get_master_connect_status FORMAT I16 PASCAL _DMC_01_get_master_connect_st atus (U16 CardNo, U16* Protocol) Purpose Retrieves the connection status between the Master Card and the expansion module.
Chapter 6 Interfac e API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 6-7 6.10 _DMC_01_get_mailbox_cnt FORMAT I16 PASCAL _DMC_01_get_mailbox_cnt (U16 Ca rdNo, U32* PC_cnt, U32* DSP_cnt) Purpose Retrieves the MailBox counter value.
Chapter 6 Interface API | PCI-DM C-A01 / PCI-DMC- B01 6-8 Revised March, 2012 6.12 _DMC_01 _set_dio_out put FORMAT I16 PASCAL _DMC_01_set_dio_output (U16 CardNo, U16 On_Off) Purpose Sets GPIO output pin status.
Chapter 6 Interfac e API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 6-9 6.14 _DMC_01_get_dio_input FORMAT I16 PASCAL _DMC_01_get_dio_input (U16 CardNo, U16* On_Off) Purpose Retrieves GPIO input pin status.
Chapter 6 Interface API | PCI-DM C-A01 / PCI-DMC- B01 6-10 Revised March, 2012 6.16 _DMC_01_initial_bus2 FORMAT I16 PASCAL _DMC_01_initial_bus2 ( ) Purpose Initializes all external buses. Parameters Function has no parameters. Example I16 status= _DMC_01_i nitial_bus2 ( ); 6.
Chapter 7 Servo Drive Parameter Read/Wri te API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 7-1 Chapter 7 Servo Drive Parameter Read/Write API Table 7.
Chapter 7 Servo Drive Parameter Rea d/Write API | PCI-DMC-A01 / PCI-DM C-B01 7-2 Revised March, 2012 7.1 _DMC_01_read_servo_parameter FORMAT I16 PASCAL _DMC_01_read_servo_parameter (U16 CardNo, U16 NodeID, U16 SlotID, U16 group,U16 idx,U32* data) Purpose Reads servo drive parameter.
Chapter 7 Servo Drive Parameter Read/Wri te API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 7-3 7.2 _DMC_01_write_servo_parameter FORMAT I16 PASCAL _DMC_01_write_servo_parameter (U16 CardNo, U16 NodeID, U16 SlotID, U16 group,U16 idx,U32 data) Purpose Writes servo drive parameter.
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Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 8-1 Chapter 8 Using SDO Protocol API Table 8.1 Function Name Description _DMC_01_check_canopen_lock Under SD O mode, ch.
Chapter 8 Using SDO Protocol API | PCI-DM C-A01 / PCI-DMC- B01 8-2 Revised March, 2012 8.1 CANopen SDO prot ocol ※ Sample SDO Packet Format for CANopen 1 – Index Read/Write successful When Index read is “Successful”, the retu rn value is in the following format: Table 8.
Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 8-3 (5) Data1~Data4 fields use low Word first. Higher Data that are invalid is replaced by 0. Based on the above, the control code returned by the array to indicate data has been written is a ControlWord with the value 0x00000008.
Chapter 8 Using SDO Protocol API | PCI-DM C-A01 / PCI-DMC- B01 8-4 Revised March, 2012 ※ Sample SDO Packet Format for CANope n2 – Index Read/Write failure When index read is “Failed” (no such index), the return value is in the following format: Table 8.
Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 8-5 ※ Sample SDO Packet Format for CANopen 3 – Read/Write ASDA-A2 Parameter When reading the ASDA-A2 parameter, the return value is in the following format: Table 8.
Chapter 8 Using SDO Protocol API | PCI-DM C-A01 / PCI-DMC- B01 8-6 Revised March, 2012 8.2 _DMC_01_check_canopen_lo ck FORMAT I16 PASCAL _DMC_01_check_canopen_lock (U16 CardNo, U16 *lock) Purpose Checks to see if the next comm and can be executed under SDO mode.
Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 8-7 8.3 _DMC_01_ge t_canopen_ret FORMAT I16 PASCAL _DMC_01_get_canopen_ret (U16 Ca rdNo, U16* COBID, U8* value) Purpose Retrieves data returned by CANOPEN (SDO related data).
Chapter 8 Using SDO Protocol API | PCI-DM C-A01 / PCI-DMC- B01 8-8 Revised March, 2012 8.4 _DMC_01_set_pdo_mode FORMAT I16 PASCAL _DMC_01_set_pdo_mode (U16 CardNo, U16 NodeID, U16 SlotID, U16 Enable) Purpose Sets the use of CANopen pr otocol (PDO or SDO).
Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 8-9 8.5 _DMC_01_send_message FORMAT I16 PASCAL _DMC_01_send_message (U16 CardNo, U16 NodeID,U16 SlotI D, U16 Index,U16 SubIdx,U16 Da taType,U16 Value0,U16 Valu e1,U16 Value2,U16 Value3) Purpose Sends SDO command message to the data buffe r.
Chapter 8 Using SDO Protocol API | PCI-DM C-A01 / PCI-DMC- B01 8-10 Revised March, 2012 8.6 _DMC_01_send_message3 FORMAT I16 _DMC_01_send_message3 (I16 CardNo, U 16 Index,U16 SubIdx,U16 DataType, .
Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 8-11 8.7 _DMC_01_read_message FORMAT I16 PASCAL _DMC_01_read_message (I16 Ca rdNo, U16* Cmd, U16* COBID, U16* DataType,U16* Value0,U16* Value1,U16* Value2,U16* Value3) Purpose Reads the last SDO command message into the data buffer.
Chapter 8 Using SDO Protocol API | PCI-DM C-A01 / PCI-DMC- B01 8-12 Revised March, 2012 8.8 _DMC_01_read_message2 FORMAT I16 PASCAL _DMC_01_read_message2 (I16 CardNo, U16 NodeID, U16 *Cmd, U16 *CO.
Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 8-13 8.9 _DMC_01_get_message FORMAT I16 PASCAL _DMC_01_get_message (I16 CardNo, U16 NodeID, U16 SlotID, U16 Index, .
Chapter 8 Using SDO Protocol API | PCI-DM C-A01 / PCI-DMC- B01 8-14 Revised March, 2012 8.10 _DMC_01_reset_sdo_choke FORMAT I16 PASCAL _DMC_01_reset_sdo_choke (U16 CardNo) Purpose Resets SDO when SDO command is blocked.
Chapter 9 Point to Point Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 9-1 Chapter 9 Point to Point Motion Control Packet Protocol API Table 9.
Chapter 9 Point to Point M otion Control Packet Protocol API | PCI-DMC-A0 1 / PCI-DMC-B01 9-2 Revised March, 2012 9.1 _DMC_01_set_sdo_driver_speed_profile FORMAT I16 PASCAL _DMC_01_set_sdo_driver_speed_profile (U16 CardNo, U16 NodeID, U16 SlotID, U32 MaxVel, F64 acc, F64 dec) Purpose Sets the speed profile for packet protocol.
Chapter 9 Point to Point Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 9-3 9.2 _DMC_01_start_sdo_driver_r_move FORMAT I16 PASCAL _DMC_01_start_sdo_driver_r_move (U16 CardNo, U16 NodeID, U16 SlotID, I32 Distance) Purpose Starts relative motion displacement.
Chapter 9 Point to Point M otion Control Packet Protocol API | PCI-DMC-A0 1 / PCI-DMC-B01 9-4 Revised March, 2012 9.3 _DMC_01_start_sdo_driver_a_move FORMAT I16 PASCAL _DMC_01_start_sdo_driver_a_move (I 16 CardNo, U16 NodeID, U16 SlotID, I32 Position) Purpose Starts absolute motion displacement.
Chapter 9 Point to Point Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 9-5 9.4 _DMC_01_start_sdo_driver_new_p osition_move FORMAT I16 PASCAL _DMC_01_start_sd.
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Chapter 10 Homing Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 10-1 Chapter 10 Homing Motion Control Packet Protocol API Table 10.
Chapter 10 Homing Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DM C-B01 10-2 Revised March, 2012 10.1 _DMC_01_set_home_config FORMAT I16 PASCAL _DMC_01_set_home_config (U16 CardNo,U16 Nod eID,U16 SlotID , U16 Mode,I32 offset,U16 lowSpe ed,U16 highSpeed,F64 acc) Purpose Sets home configuration.
Chapter 10 Homing Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 10-3 NOTE #1. Homing mode using negative lim it and index pulse message Using this method, if the negativ e limit switch is disabled (l ow voltage level), then it will begin by moving left.
Chapter 10 Homing Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DM C-B01 10-4 Revised March, 2012 #3 and #4. Homing using positive voltage level at Home Swit ch and index pulse message When using method 3 or 4, the initial direct ion will depend on the curre nt status of the Home switch.
Chapter 10 Homing Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 10-5 #7 to 14. Homing m ode based on index pulse and Home switch These methods use a Home switch that is only activated during some types of motion.
Chapter 10 Homing Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DM C-B01 10-6 Revised March, 2012 #15 and 16. Reserved This is reserved for adding other homing modes in the future. #17 to 30. Homing mode i ndependent of index pulse These methods are similar to methods 1 to 14.
Chapter 10 Homing Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 10-7 10.2 _DMC_01_set_home_move FORMAT I16 PASCAL _DMC_01_set_home_move (U16 CardNo, U16 NodeI D, U16 SlotID) Purpose Starts home motion.
Chapter 10 Homing Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DM C-B01 10-8 Revised March, 2012 10.3 _DMC_01_escape_home_move FORMAT I16 PASCAL _DMC_01_escape_home_move (U16 CardNo, U16 NodeID, U16 SlotID) Purpose Stops homing motion.
Chapter 11 Velocity Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 11-1 Chapter 11 Velocity Motion Control Packet Protocol API Table 11.
Chapter 11 Velocity Motion Control Packet Protoco l API | PCI-DMC-A01 / PCI-DMC- B01 11-2 Revised March, 2012 11.1 _DMC_01_set_velocity_mode FORMAT I16 PASCAL _DMC_01_set_velocity_mode (U 16 CardNo, U16 NodeID, U16 SlotID, F64 Tacc,F64 Tdec) Purpose Sets the velocity motion control parameter profile.
Chapter 11 Velocity Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 11-3 11.2 _DMC_01_set_velocity FORMAT I16 PASCAL _DMC_01_set_velocity (U16 CardNo, U16 NodeID, U16 SlotID,I32 rpm) Purpose Starts velocity motion control.
Chapter 11 Velocity Motion Control Packet Protoco l API | PCI-DMC-A01 / PCI-DMC- B01 11-4 Revised March, 2012 11.3 _DMC_01_set_velocity_stop FORMAT I16 PASCAL _DMC_01_set_velocity_stop (U16 CardNo,U16 NodeID,U16 SlotID,U16 stop) Purpose Stops velocity motion control.
Chapter 11 Velocity Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 11-5 11.4 _DMC_01_set_velocity_torque_limit FORMAT I16 PASCAL _DMC_01_set_velocity_torque_limit (U16 CardNo, U16 NodeID, U16 SlotID, U32 torque_limit) Purpose Sets the torque limit for velocity mode.
Chapter 11 Velocity Motion Control Packet Protoco l API | PCI-DMC-A01 / PCI-DMC- B01 11-6 Revised March, 2012 (This page intentionally left blank.).
Chapter 12 Torque Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 12-1 Chapter 12 Torque Motion Control Packet Protocol API Table 12.
Chapter 12 Torque Motio n Control Packet Protocol API | PCI-DMC-A01 / PCI-DM C-B01 12-2 Revised March, 2012 12.1 _DMC_01_set_torque_mode FORMAT I16 PASCAL _DMC_01_set_torque_mode (U16 Ca rdNo, U16 NodeID, U16 SlotID, U16 slope) Purpose Sets the torque motion control par ameter profile (slope value).
Chapter 12 Torque Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 12-3 12.2 _DMC_01_set_torque FORMAT I16 PASCAL _DMC_01_set_torque (U16 CardNo, U16 NodeID, U16 SlotID, I16 ratio) Purpose Starts torque motion.
Chapter 12 Torque Motio n Control Packet Protocol API | PCI-DMC-A01 / PCI-DM C-B01 12-4 Revised March, 2012 12.3 _DMC_01_set_torque_stop FORMAT I16 PASCAL _DMC_01_set_torque_stop (U16 Card No, U16 NodeID, U16 Slot ID, U16 stop) Purpose Stops torque motion.
Chapter 12 Torque Motion Control Packe t Protocol API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 12-5 12.4 _DMC_01_set_torq ue_velocity_limit FORMAT I16 PASCAL _DMC_01_set_torque_v elocity_limit (U16 CardNo, U16 NodeID, U16 SlotID, U32 velocity_limit) Purpose Sets the velocity limit in torque mode.
Chapter 12 Torque Motio n Control Packet Protocol API | PCI-DMC-A01 / PCI-DM C-B01 12-6 Revised March, 2012 (This page intentionally left blank.).
Chapter 13 Using PDO Protocol AP I | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 13-1 Chapter 13 Using PDO Protocol API Table 13.1 Function Name Description _DMC_01_ipo_set_svon Set Servo ON /OFF un.
Chapter 13 Using PDO Protocol API | PCI-DMC- A01 / PCI-DMC-B01 13-2 Revised March, 2012 13.1 _DMC_01_ipo_set_svon FORMAT I16 PASCAL _DMC_01_ipo_set_svon (U16 CardNo , U16 NodeID, U16 SlotID, U16 ON_OFF) Purpose Sets Servo ON/OFF under PDO protocol mode.
Chapter 13 Using PDO Protocol AP I | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 13-3 13.2 _DMC_01_get_buffer_length FORMAT I16 PASCAL _DMC_01_get_buffer_length (U16 CardNo, U16 NodeID, U16 SlotID, U16* bufferLength) Purpose Retrieves the motion command which has yet to be executed.
Chapter 13 Using PDO Protocol API | PCI-DMC- A01 / PCI-DMC-B01 13-4 Revised March, 2012 13.3 _DMC_01_command_buf_clear FORMAT I16 PASCAL _DMC_01_command_buf_clear (U16 CardNo, U16 NodeID, U16 SlotID) Purpose Resets dwell time (buffer dwell counter value).
Chapter 13 Using PDO Protocol AP I | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 13-5 13.4 _DMC_01_buf_dwell FORMAT I16 PASCAL _DMC_01_buf_dwell (I16 CardNo, U 16 NodeID, U16 SlotID, I32 dwell_cnt) Purpose The interval time between two motion commands.
Chapter 13 Using PDO Protocol API | PCI-DMC- A01 / PCI-DMC-B01 13-6 Revised March, 2012 13.5 _DMC_01_set_group FORMAT I16 PASCAL _DMC_01_set_group (U16 CardNo, U16* NodeID,U16* SlotID, U16 NodeID_Num, U16 enable) Purpose Sets a group.
Chapter 14 Stop Motion Control AP I | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 14-1 Chapter 14 Stop Motion Control API Table 14.1 Function Name Description _DMC_01_emg_stop All motion commands in.
Chapter 14 Stop Motion Control API | PCI-DM C-A01 / PCI-DMC- B01 14-2 Revised March, 2012 14.1 _DMC_01_emg_stop FORMAT I16 PASCAL _DMC_01_emg_stop (U16 CardNo, U16 NodeID, U16 SlotID) Purpose All motion commands in the buffer will execute an emergency stop.
Chapter 14 Stop Motion Control AP I | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 14-3 14.2 _DMC_01_sd_stop FORMAT I16 PASCAL _DMC_01_sd_stop (U16 CardNo , U16 NodeID,U16 SlotID,F64 Tdec) Purpose All motion commands in the buffer will execute a slow down stop based on deceleration time.
Chapter 14 Stop Motion Control API | PCI-DM C-A01 / PCI-DMC- B01 14-4 Revised March, 2012 14.3 _DMC_01_sd_abort FORMAT I16 PASCAL _DMC_01_sd_abort (U16 CardNo, U16 NodeID, U16 SlotID, F64 Tdec) Purpose Current motion command will execute a slow down stop.
Chapter 14 Stop Motion Control AP I | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 14-5 14.4 _DMC_01_set_sd_mode FORMAT I16 PASCAL _DMC_01_set_sd_mode (U16 CardNo , U16 NodeID, U16 SlotID, U16 mode) Purpose Sets the Sd_stop(slow down stop) mode.
Chapter 14 Stop Motion Control API | PCI-DM C-A01 / PCI-DMC- B01 14-6 Revised March, 2012 Example U16 CardNo=0; U16 NodeID =1, SlotID=0; U16 Mode=1; F64 Tdec=0.
Chapter 15 Motion Status API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 15-1 Chapter 15 Motion Status API Table 15.1 Function Name Description _DMC_01_motion_done Return current motion stage of t.
Chapter 15 Motion Status API | PCI-DM C-A01 / PCI-DMC-B01 15-2 Revised March, 2012 15.1 _DMC_01_motion_done FORMAT I16 PASCAL _DMC_01_motion_done (U16 Ca rdNo, U16 NodeID, U16 SlotID, U16* MC_status) Purpose Returns the current stage of motion of the Master Card.
Chapter 15 Motion Status API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 15-3 15.2 _DMC_01_motion_status FORMAT I16 PASCAL _DMC_01_motion_status (U 16 CardNo, U16 NodeID, U16 SlotID, U32* MC_status) Purpose Returns current motion status of the Master Card.
Chapter 15 Motion Status API | PCI-DM C-A01 / PCI-DMC-B01 15-4 Revised March, 2012 Figure 15.1 Motion status For a description of “Mode specific” bits” (b it 12 and bit 13), please see Table 15.2. With the mode selection bits (bit 0 ~ bit 3) there are only 2 mode s for the user to choose from.
Chapter 16 Motion Coun ter Value API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 16-1 Chapter 16 Motion Counter Value API Table 16.1 Function Name Description _DMC_01_get_command Get Command count.
Chapter 16 Motion Coun ter Value API | PCI-DMC-A01 / PCI-D MC-B01 16-2 Revised March, 2012 16.1 _DMC_01_get_command FORMAT I16 PASCAL _DMC_01_get_command (U16 CardNo, U16 NodeID, U16 SlotID, I32* cmd) Purpose Retrieves the Command counter value.
Chapter 16 Motion Coun ter Value API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 16-3 16.3 _DMC_01_get_position FORMAT I16 PASCAL _DMC_01_get_position (U16 CardNo , U16 NodeID, U16 SlotID, I32* pos) Purpose Retrieves the current pos ition counter value.
Chapter 16 Motion Coun ter Value API | PCI-DMC-A01 / PCI-D MC-B01 16-4 Revised March, 2012 16.5 _DMC_01_get_target_pos FORMAT I16 PASCAL _DMC_01_get_target_pos (U16 CardNo , U16 NodeID, U16 SlotID, I32* pos) Purpose Retrieves the current value of the target position.
Chapter 16 Motion Coun ter Value API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 16-5 16.6 _DMC_01_get_torque FORMAT I16 PASCAL _DMC_01_get_torque (U16 CardNo, U 16 NodeID, U16 SlotID, U16* torque) Purpose Retrieves and returns the current torque counter value.
Chapter 16 Motion Coun ter Value API | PCI-DMC-A01 / PCI-D MC-B01 16-6 Revised March, 2012 16.7 _DMC_01_get_current_speed FORMAT I16 PASCAL _DMC_01_get_current_speed (U16 CardNo, U16 NodeID, U16 SlotID, I32* speed) Purpose Retrieves motion speed.
Chapter 16 Motion Coun ter Value API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 16-7 16.8 _DMC_01_get_current_speed_rpm FORMAT I16 PASCAL _DMC_01_get_current_speed_rpm (U16 CardNo, U16 NodeID, U16 SlotID, I32 *rpm) Purpose Retrieves current RPM x 10.
Chapter 16 Motion Coun ter Value API | PCI-DMC-A01 / PCI-D MC-B01 16-8 Revised March, 2012 (This page intentionally left blank.).
Chapter 17 Software Li mit API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 17-1 Chapter 17 Software Limit API Table 17.1 Function Name Description _DMC_01_set_soft_limit Sets re ference values fo.
Chapter 17 Software Limit API | PCI-D MC-A01 / PCI-DMC- B01 17-2 Revised March, 2012 17.1 _DMC_01_set_soft_limit FORMAT I16 PASCAL _DMC_01_set_soft_limit (U16 CardNo , U16 NodeID, U16 SlotID, I32 PLimit, I32 NLimit) Purpose Sets reference values for soft ware positive/negative limits.
Chapter 17 Software Li mit API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 17-3 17.2 _DMC_01_enable_soft_limit FORMAT I16 PASCAL _DMC_01_enable_soft_limit (U16 Card No, U16 NodeID, U16 SlotID, I16 Action) Purpose Enables/disables the software limit and stop method after touching the limit.
Chapter 17 Software Limit API | PCI-D MC-A01 / PCI-DMC- B01 17-4 Revised March, 2012 17.4 _DMC_01_get_soft_limit_status FORMAT I16 PASCAL _DMC_01_get_soft_limit_status (U16 CardNo, U16 NodeID, U16 SlotID, U16* PLimit_sts,U16* NLimit_sts) Purpose Retrieves the positive/negative status of the software limit during motion.
Chapter 18 1-Axis Motion Con trol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 18-1 Chapter 18 1-Axis Motion Control API Table 18.1 Function Name Description _DMC_01_start_tr_move Mo tion displacement using relative coordinates with T-curve velocity cross-section.
Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 18-2 Revised March, 2012 18.1 _DMC_01_start_tr_move FORMAT I16 PASCAL _DMC_01_start_tr_move(U16 Card No, U16 NodeID,U16 SlotID, I32 Dist, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec) Purpose Motion displacement using relative coordinates with T-curve velocity cross-section.
Chapter 18 1-Axis Motion Con trol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 18-3 18.2 _DMC_01_start_sr_move FORMAT I16 PASCAL _DMC_01_start_sr_move(U16 Card No, U16 NodeID,U16 SlotID, I32 Dist, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec) Purpose Motion displacement using relative coordinates with S-curve velocity cross-section.
Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 18-4 Revised March, 2012 18.3 _DMC_01_start_ta_move FORMAT I16 PASCAL _DMC_01_start_ta_move(U16 Card No, U16 NodeID,U16 SlotID, I32 Dist, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec) Purpose Motion displacement using absolute coordina tes with T-curve velocity cross-section.
Chapter 18 1-Axis Motion Con trol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 18-5 18.4 _DMC_01_start_sa_move FORMAT I16 PASCAL _DMC_01_start_sa_move(U16 CardNo, U16 NodeID,U16 SlotID, I32.
Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 18-6 Revised March, 2012 18.5 _DMC_01_p_change FORMAT I16 PASCAL _DMC_01_p_change (U16 CardNo, U16 NodeID, U16 SlotID, I32 NewPos) Purpose Replaces the current position with a new position value.
Chapter 18 1-Axis Motion Con trol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 18-7 18.6 _DMC_01_v_change FORMAT I16 PASCAL _DMC_01_v_change (U16 CardNo, U 16 NodeID, U16 SlotID, I32 NewSpeed, F64 sec) Purpose Replaces the current motion veloci ty with a new velocity value.
Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 18-8 Revised March, 2012 NOTE ※ The V-change command can be used in both single- and mult i-axis motions.
Chapter 18 1-Axis Motion Con trol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 18-9 18.7 _DMC_01_start_tr_move_2seg FORMAT I16 PASCAL _DMC_01_start_tr_move_2seg(U16 CardNo, U16 NodeID,U16 S.
Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 18-10 Revised March, 2012 Example U16 CardNo=0; U16 NodeID =1; U16 SlotID=0; I32 Dist=500000; I32 Dist2=500000 I32 StrVel=1000; I32 MaxVel=10000; I32 MaxVel2=30000; F64 Tacc=0.1; F64 Tsec=0.
Chapter 18 1-Axis Motion Con trol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 18-11 18.8 _DMC_01_start_sr_move_2seg FORMAT I16 PASCAL _DMC_01_start_sr_move_2seg(U16 CardNo, U16 NodeID,U16 .
Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 18-12 Revised March, 2012 18.9 _DMC_01_start_ta_move_2seg FORMAT I16 PASCAL _DMC_01_start_ta_move_2seg(U16 Ca rdNo, U16 NodeID,U16 .
Chapter 18 1-Axis Motion Con trol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 18-13 18.10 _DMC_01_start_sa_move_2seg FORMAT I16 PASCAL _DMC_01_start_sa_move_2seg(U16 Ca rdNo, U16 NodeID,U1.
Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 18-14 Revised March, 2012 18.11 _DMC_01_start_tr_move_2seg2 FORMAT I16 PASCAL _DMC_01_start_tr_move_2seg2 (U16 CardNo, U16 NodeID,U.
Chapter 18 1-Axis Motion Con trol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 18-15 Example U16 CardNo=0, NodeID =1, SlotID=0; I32 Dist=500000, Dist2=500000 I32 StrVel=1000; I32 MaxVel=10000, MaxVel2=30000; F64 Tacc=0.1; F64 Tsec=0.1; F64 Tdec=0.
Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 18-16 Revised March, 2012 18.12 _DMC_01_start_sr_move_2seg2 FORMAT I16 PASCAL _DMC_01_start_sr_move_2seg2 (U 16 CardNo, U16 NodeID,.
Chapter 18 1-Axis Motion Con trol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 18-17 18.13 _DMC_01_start_ta_move_2seg2 FORMAT I16 PASCAL _DMC_01_start_ta_move_2seg2 (U16 CardNo, U16 NodeID,.
Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 18-18 Revised March, 2012 18.14 _DMC_01_start_sa_move_2seg2 FORMAT I16 PASCAL _DMC_01_start_sa_move_2seg2 (U16 CardNo, U16 NodeID,U.
Chapter 18 1-Axis Motion Con trol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 18-19 18.15 _DMC_01_feedrate_overwrite FORMAT I16 PASCAL _DMC_01_feedrate_ov erwrite (U16 CardNo, U16 NodeID, U16 SlotID, U16 Mode, I32 New_Speed, F64 sec) Purpose Changes motion speed or speed ratio.
Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 18-20 Revised March, 2012 A Figure 18.8 Mode = 1 change to new speed Figure 18.9 Mode = 2 change to new speed ratio Example U16 CardNo=0; U16 NodeID =1, SlotID=0, Mode=0; I32 NewSpeed=3000; F64 sec=0.
Chapter 18 1-Axis Motion Con trol API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 18-21 18.16 _DMC_01_start_v3_move FORMAT I16 PASCAL _DMC_01_start_v3_move(U16 CardNo, U16 NodeID,U16 SlotID, I.
Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 18-22 Revised March, 2012 Description Figure 18.10 Explanation of TPhase1 and TPhase2 Example U16 CardNo=0; U16 NodeID =1, SlotID=0; I32 Dist=100000, StrVel=0, Cons tVel=50000, EndVel=20000; F64 TPhase1=0.
Chapter 19 2-Axis Linear Interpolation M otion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 19-1 Chapter 19 2-Axis Linear Interpolation Motion Control API Table 19.
Chapter 19 2-Axis Linear Interpola tion Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 19-2 Revised March, 2012 19.1 _DMC_01_start_tr_move_xy FORMAT I16 PASCAL _DMC_01_start_tr_move_xy(U16 Card N.
Chapter 19 2-Axis Linear Interpolation M otion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 19-3 Description As shown in Fig. 19.1, 2-axis linear interpolati on means Position moving by X and Y from P0 to P1. The two axes will start and end at the same time.
Chapter 19 2-Axis Linear Interpola tion Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 19-4 Revised March, 2012 19.2 _DMC_01_start_sr_move_xy FORMAT I16 PASCAL _DMC_01_start_sr_move_xy(U16 Card N.
Chapter 19 2-Axis Linear Interpolation M otion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 19-5 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotID[2] ={0, 0}; I32 DisX=50000; I32 DisY 100000; I32 StrVel=0; I32 MaxVel=50000; F64 Tacc=0.
Chapter 19 2-Axis Linear Interpola tion Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 19-6 Revised March, 2012 19.3 _DMC_01_start_ta_move_xy FORMAT I16 PASCAL _DMC_01_start_ta_move_xy(U16 CardNo.
Chapter 19 2-Axis Linear Interpolation M otion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 19-7 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotID[2] ={0, 0}; I32 DisX=50000; I32 DisY 100000; I32 StrVel=0; I32 MaxVel=50000; F64 Tacc=0.
Chapter 19 2-Axis Linear Interpola tion Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 19-8 Revised March, 2012 19.4 _DMC_01_start_sa_move_xy FORMAT I16 PASCAL _DMC_01_start_sa_move_xy(U16 Card N.
Chapter 19 2-Axis Linear Interpolation M otion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 19-9 Example U16 CardNo=0; U16 NodeIDArray[2]={0,1}; U16 SlotID[2]={0, 0}; I32 DisX=50000; I32 DisY 100000; I32 StrVel=0; I32 MaxVel=50000; F64 Tacc=0.
Chapter 19 2-Axis Linear Interpola tion Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 19-10 Revised March, 2012 19.5 _DMC_01_start_v3_move_xy FORMAT I16 PASCAL _DMC_01_start_v3_move_xy(U16 Card .
Chapter 19 2-Axis Linear Interpolation M otion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 19-11 Example U16 CardNo=0; U16 NodeIDArray[2]={0,1}; U16 SlotID[2]={0, 0}; I32 DisX=50000; I32 DisY= 100000; I32 StrVel=0; I32 ConstVel=50000; I32 EndVel=20000; F64 TPhase1=0.
Chapter 19 2-Axis Linear Interpola tion Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 19-12 Revised March, 2012 (This page intentionally left blank.).
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-1 Chapter 20 2-Axis Arc Interpolation Motion Control API Table 20.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-2 Revised March, 2012 Function Name Description _DMC_01_start_tr_arc3_xy 2-axis arc interpolation motion using r.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-3 20.1 _DMC_01_start_tr_arc_xy FORMAT I16 PASCAL _DMC_01_start_tr_arc_xy(U16 CardNo, U16*.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-4 Revised March, 2012 Description Figure 20.1 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 Center_X =50000; I32 Center_Y =50000; I32 StrVel=0; I32 MaxVel=50000; F64 Angle=180; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-5 20.2 _DMC_01_start_sr_arc_xy FORMAT I16 PASCAL _DMC_01_start_sr_arc_xy(U16 CardNo, U16*.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-6 Revised March, 2012 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 Center_X =50000; I32 Center_Y =50000; I32 StrVel=0; I32 MaxVel=50000; F64 Angle=180; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-7 20.3 _DMC_01_start_ta_arc_xy FORMAT I16 PASCAL _DMC_01_start_ta_arc_xy(U16 CardNo, U16*.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-8 Revised March, 2012 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 Center_X =50000; I32 Center_Y =50000; I32 StrVel=0; I32 MaxVel=50000; F64 Angle=180; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-9 20.4 _DMC_01_start_sa_arc_xy FORMAT I16 PASCAL _DMC_01_start_sa_arc_xy(U16 CardNo, U16*.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-10 Revised March, 2012 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 Center_X =50000; I32 Center_Y =50000; I32 StrVel=0; I32 MaxVel=50000; F64 Angle=180; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-11 20.5 _DMC_01_start_tr_arc2_xy FORMAT I16 PASCAL _DMC_01_start_tr_arc2_xy(U16 Card No, .
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-12 Revised March, 2012 Description Figure 20.2 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 End_X =-50000; I32 End_Y =-50000; I32 StrVel=0; I32 MaxVel=50000; F64 Angle=180; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-13 20.6 _DMC_01_start_sr_arc2_xy FORMAT I16 PASCAL _DMC_01_start_sr_ar c2_xy(U16 CardNo, .
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-14 Revised March, 2012 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 End_X =-50000; I32 End_Y =-50000; I32 StrVel=0; I32 MaxVel=50000; F64 Angle=180; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-15 20.7 _DMC_01_start_ta_arc2_xy FORMAT I16 PASCAL _DMC_01_start_ta_arc2_xy(U16 Card No, .
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-16 Revised March, 2012 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 End_X =-50000; I32 End_Y =-50000; I32 StrVel=0; I32 MaxVel=50000; F64 Angle=180; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-17 20.8 _DMC_01_start_sa_arc2_xy FORMAT I16 PASCAL _DMC_01_start_sa_arc2_xy(U16 CardNo , .
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-18 Revised March, 2012 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 End_X =-50000; I32 End_Y =-50000; I32 StrVel=0; I32 MaxVel=50000; F64 Angle=180; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-19 20.9 _DMC_01_start_tr_arc3_xy FORMAT I16 PASCAL _DMC_01_start_tr_arc3_xy(U16 CardNo, U.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-20 Revised March, 2012 Description Figure 20.3 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotI.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-21 20.10 _DMC_01_start_sr_arc3_xy FORMAT I16 PASCAL _DMC_01_start_sr_arc3_xy(U16 CardNo, .
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-22 Revised March, 2012 Example U16 CardNo=0 U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 Center_X =25.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-23 20.11 _DMC_01_start_ta_arc3_xy FORMAT I16 PASCAL _DMC_01_start_ta_arc3_xy(U16 CardNo, .
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-24 Revised March, 2012 Example U16 CardNo=0 U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 Center_X =25000, Center_Y =25000; I32 StrVel=0, MaxVel=50000; I32 End_x=50000, End_y=50000; I16 Dir=1; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-25 20.12 _DMC_01_start_sa_arc3_xy FORMAT I16 PASCAL _DMC_01_start_sa_arc3_xy(U16 CardNo, .
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-26 Revised March, 2012 Example U16 CardNo=0 U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 Center_X =25000, Center_Y =25000; I32 StrVel=0, MaxVel=50000; I32 End_x=50000, End_y=50000; I16 Dir=1; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-27 20.13 _DMC_01_start_spiral_xy FORMAT I16 PASCAL _DMC_01_start_spiral_xy (U16 CardNo, U.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-28 Revised March, 2012 Example U16 CardNo=0 U16 NodeID[2]={1,2}; U16 SlotID[2]={0, 0}; I32 Center_X =25000, Center_Y =25000, I32 Spiral_interval= 20000,Spiral_angle=1800; I32 StrVel=0, MaxVel=50000; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-29 20.14 _DMC_01_start_spiral2_xy FORMAT I16 PASCAL _DMC_01_start_spiral2_xy (U16 CardNo,.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-30 Revised March, 2012 Example U16 CardNo=0 U16 NodeID[2]={1,2}; U16 SlotID[2]={0, 0}; I32 center_x =25000, center_y=25000; I32 end_x =25000, end_y =25000; U16 dir= 1,circelnum=5; I32 StrVel=0, MaxVel=50000; F64 Tacc=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-31 20.15 _DMC_01_start_v3_arc_xy FORMAT I16 PASCAL _DMC_01_start_v3_arc_xy(U16 CardNo, U1.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-32 Revised March, 2012 Description Figure 20.4 Explanation of TPhase1 and TPhase2 Example U16 CardNo=0, .
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-33 20.16 _DMC_01_start_v3_arc2_xy FORMAT I16 PASCAL _DMC_01_start_v3_arc2_xy(U16 Card No,.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-34 Revised March, 2012 Example U16 CardNo=0; U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 End_X =-50000; I32 End_Y =-50000; I32 StrVel=0; I32 MaxVel=50000; I32 EndVel=20000; F64 TPhase1=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-35 20.17 _DMC_01_start_v3_arc3_xy FORMAT I16 PASCAL _DMC_01_start_v3_arc3_xy(U16 CardNo, .
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-36 Revised March, 2012 Example U16 CardNo=0 U16 NodeIDArray[2]={1,2}; U16 SlotID[2]={0, 0}; I32 Center_X =25000, Center_Y =25000; I32 End_x=50000, End_y=50000; I16 Dir=1; I32 StrVel=0, ConstVel=50000 , EndVel=20000; F64 TPhase1=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-37 20.18 _DMC_01_start_v3_spiral_xy FORMAT I16 PASCAL _DMC_01_start_v3_spiral_xy (U 16 Ca.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-38 Revised March, 2012 Example U16 CardNo=0 U16 NodeID[2]={1,2}; U16 SlotID[2]={0, 0}; I32 Center_X =25000, Center_Y =25000, I32 Spiral_interval= 20000, Spiral_angle=1800; I32 StrVel=0, MaxVel=50000; I32 EndVel=20000; F64 TPhase1=0.
Chapter 20 2-Axis Arc Interp olation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 20-39 20.19 _DMC_01_start_v3_spiral2_xy FORMAT I16 PASCAL _DMC_01_start_v3_spiral2_xy (U16 C.
Chapter 20 2-Axis Arc Interpolation M otion Control API | PCI-DM C-A01 / PCI-DMC-B01 20-40 Revised March, 2012 Example U16 CardNo=0 U16 NodeID[2]={1,2}; U16 SlotID[2]={0, 0}; I32 center_x =25000, center_y=25000; I32 end_x =25000, end_y =25000; U16 dir= 1, circelnum=5; I32 StrVel=0, MaxVel=50000; I32 EndVel=20000; F64 TPhase1=0.
Chapter 21 3-Axis Linear Interpolation M otion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 21-1 Chapter 21 3-Axis Linear Interpolation Motion Control API Table 21.
Chapter 21 3-Axis Linear Interpola tion Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 21-2 Revised March, 2012 21.1 _DMC_01_start_tr_move_xyz FORMAT I16 PASCAL _DMC_01_start_tr_move_xyz(U16 Card.
Chapter 21 3-Axis Linear Interpolation M otion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 21-3 21.2 _DMC_01_start_sr_move_xyz FORMAT I16 PASCAL _DMC_01_start_sr_move_xyz(U16 Card.
Chapter 21 3-Axis Linear Interpola tion Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 21-4 Revised March, 2012 21.3 _DMC_01_start_ta_move_xyz FORMAT I16 PASCAL _DMC_01_start_ta_move_xyz (U16 Ca .
Chapter 21 3-Axis Linear Interpolation M otion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 21-5 21.4 _DMC_01_start_sa_move_xyz FORMAT I16 PASCAL _DMC_01_start_sa_move_xyz(U16 Ca r.
Chapter 21 3-Axis Linear Interpola tion Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 21-6 Revised March, 2012 21.5 _DMC_01_start_v3_move_xyz FORMAT I16 PASCAL _DMC_01_start_v3_move_xyz(U16 Ca r.
Chapter 21 3-Axis Linear Interpolation M otion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 21-7 Description Figure 21.4 Explanation of TPhase1 and TPhase2 Example U16 CardNo=0.
Chapter 21 3-Axis Linear Interpola tion Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 21-8 Revised March, 2012 (This page intentionally left blank.).
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 22-1 Chapter 22 3-Axis Spiral Interpolation Motion Control API Table 22.
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC- A01 / PCI-DMC-B01 22-2 Revised March, 2012 22.1 _DMC_01_start_tr_heli_xy FORMAT I16 PASCAL _DMC_01_start_tr_heli_xy(U16 CardNo.
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 22-3 Description Figure 22.1 Example U16 CardNo=0; U16 NodeIDArray[3]={1,2,3}; U16 Sl.
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC- A01 / PCI-DMC-B01 22-4 Revised March, 2012 22.2 _DMC_01_start_sr_heli_xy FORMAT I16 PASCAL _DMC_01_start_sr_heli_xy(U16 CardNo.
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 22-5 Example U16 CardNo=0; U16 NodeIDArray[3]={1,2,3}; U16 SlotID[3]={0, 0, 0}; I32 Center_X =25000, Center_Y = 50000, Depth =10000, Pitch = 20000; I16 Dir=1; I32 StrVel=0, MaxVel=50000; F64 Tacc=0.
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC- A01 / PCI-DMC-B01 22-6 Revised March, 2012 22.3 _DMC_01_start_ta_heli_xy FORMAT I16 PASCAL _DMC_01_start_ta_heli_xy(U16 CardNo.
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 22-7 Example U16 CardNo=0; U16 NodeIDArray[3]={1,2,3}; U16 SlotID[3]={0, 0, 0}; I32 Center_X =25000, Center_Y = 50000, Depth =10000, Pitch = 20000; I16 Dir=1; I32 StrVel=0, MaxVel=50000; F64 Tacc=0.
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC- A01 / PCI-DMC-B01 22-8 Revised March, 2012 22.4 _DMC_01_start_sa_heli_xy FORMAT I16 PASCAL _DMC_01_start_sa_heli_xy(U16 CardNo.
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 22-9 Example U16 CardNo=0; U16 NodeIDArray[3]={1,2,3}; U16 SlotID[3]={0, 0, 0}; I32 Center_X =25000, Center_Y = 50000, Depth =10000, Pitch = 20000; I16 Dir=1; I32 StrVel=0, MaxVel=50000; F64 Tacc=0.
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC- A01 / PCI-DMC-B01 22-10 Revised March, 2012 22.5 _DMC_01_start_v3_heli_xy FORMAT I16 PASCAL _DMC_01_start_v3_heli_xy(U16 CardN.
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 22-11 Description Figure 22.2 Explanation of TPhase1 and TPhase2 Example U16 CardNo=0.
Chapter 22 3-Axis Spiral In terpolation Motion Control API | PCI-DMC- A01 / PCI-DMC-B01 22-12 Revised March, 2012 (This page intentionally left blank.).
Chapter 23 Velocity Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 23-1 Chapter 23 Velocity Motion Control API Table 23.1 Function Name Description _DMC_01_tv_move Velocity motion .
Chapter 23 Velocity Motion Control AP I | PCI-DMC-A01 / PCI-DM C-B01 23-2 Revised March, 2012 23.1 _DMC_01_tv_move FORMAT I16 PASCAL _DMC_01_tv_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 StrVel, I32 MaxVel, F64 Tacc,I16 Dir) Purpose Velocity motion control with T-curve velocity cross-section.
Chapter 23 Velocity Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 23-3 23.2 _DMC_01_sv_move FORMAT I16 PASCAL _DMC_01_sv_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 StrVel, I32 MaxVel, F64 Tacc,I16 Dir) Purpose Velocity motion control with S-curve velocity cross-section.
Chapter 23 Velocity Motion Control AP I | PCI-DMC-A01 / PCI-DM C-B01 23-4 Revised March, 2012 (This page intentionally left blank.).
Chapter 24 Synchronization M otion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 24-1 Chapter 24 Synchronization Motion Control API Table 24.
Chapter 24 Synchronization M otion Control API | PCI-DMC-A01 / PCI-DM C-B01 24-2 Revised March, 2012 24.1 _DMC_01_sync_move FORMAT I16 PASCAL _DMC_01_sync_move(I16 CardNo) Purpose Starts motion sync.
Chapter 25 Remote Module Control API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 25-1 Chapter 25 Remote Module Control API Table 25.1 Function Name Description _DMC_01_get_rm_input_value Retrieve.
Chapter 25 Remote Module Control API | PCI-DMC-A01 / PCI- DMC-B01 25-2 Revised March, 2012 25.1 _DMC_01_get_rm_input_value FORMAT I16 PASCAL _DMC_01_get_rm_input_value(U 16 CardNo, U16 NodeID,U16 SlotID, U16 port,U16 *value) Purpose Retrieves the value for bit 0 to bit 15 of the remote I/O module's input port.
Chapter 25 Remote Module Control API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 25-3 25.2 _DMC_01_set_rm_input_filter FORMAT I16 PASCAL _DMC_01_set_rm_input_filter(U 16 CardNo, U16 NodeID,U16 SlotID , U16 port,U16 value) Purpose Sets software filter level for input port of the remote I/O module.
Chapter 25 Remote Module Control API | PCI-DMC-A01 / PCI- DMC-B01 25-4 Revised March, 2012 25.3 _DMC_01_set_rm_input_filter_enable FORMAT I16 PASCAL _DMC_01_set_rm_input_filter_enable(U16 CardNo, U16 NodeID, U16 SlotID,U16 port,U16 enable) Purpose Enables software mask for bit 0 to bit 15 of the remote I/O module's input port.
Chapter 25 Remote Module Control API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 25-5 25.4 _DMC_01_set_rm_output_value FORMAT I16 PASCAL _DMC_01_set_rm _output_value(U16 CardNo, U16 NodeID,U16 SlotID, U16 port,U16 value) Purpose Sets the value for bit 0 to bit 15 of the remote I/O module's output port.
Chapter 25 Remote Module Control API | PCI-DMC-A01 / PCI- DMC-B01 25-6 Revised March, 2012 25.5 _DMC_01_set_rm_output_value_error_handle FORMAT I16 PASCAL _DMC_01_set_rm_output_value_e rror_handle(U16 CardNo, U16 NodeID, U16 SlotID,U16 port,U16 value) Purpose Sets the output value returned when re mote I/O module encounters an error.
Chapter 25 Remote Module Control API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 25-7 25.6 _DMC_01_get_rm_output_value FORMAT I16 PASCAL _DMC_01_get_rm_output_value (U16 CardNo, U16 NodeID, U16 SlotID, U16 port, U16* value) Purpose Retrieves output value of the remote I/O module.
Chapter 25 Remote Module Control API | PCI-DMC-A01 / PCI- DMC-B01 25-8 Revised March, 2012 25.7 _DMC_01_get_rm _output_v alue_error_han dle FORMAT I16 PASCAL _DMC_01_get_rm_output_value_erro r_han.
Chapter 25 Remote Module Control API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 25-9 25.8 _DMC_01_set_rm_output_active FORMAT I16 PASCAL _DMC_01_set_rm_output_active (U16 CardNo, U16 NodeID, U16 SlotID, U16 Enable) Purpose Enables/disables output from the remote I/O module.
Chapter 25 Remote Module Control API | PCI-DMC-A01 / PCI- DMC-B01 25-10 Revised March, 2012 (This page intentionally left blank.).
Chapter 26 MPG and JOG Oper ation API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 26-1 Chapter 26 MPG and JOG Operation API Table 26.1 Function Name Description _DMC_01_set_rm_mpg_axes_enabl e Set.
Chapter 26 MPG and JOG Opera tion API | PCI-DMC-A01 / PCI-DM C-B01 26-2 Revised March, 2012 26.1 _DMC_01_set_rm _mpg_axes_enable FORMAT I16 PASCAL _DMC_01_set_rm_mpg_axes_enable (U16 CardNo, U16 MasterNodeID, U16 MasterSlotID, U16* NodeID, U16* SlotID, U16 enable, U16 pulse_ratio, U32 *ratio, U32 *slope) Purpose Sets MPG motion control.
Chapter 26 MPG and JOG Oper ation API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 26-3 Example I16 rt = 0; U16 CardNo = 0, MasterNodeID = 1, Ma sterSlotID = 0; //R M-64 Node ID is 1 U16 NodeID[4] = {2, 3, 0, 0}, SlotID[4] = {0}; //Use two ASD-A 2F servo motors assigned to Node 2 and Node 3.
Chapter 26 MPG and JOG Opera tion API | PCI-DMC-A01 / PCI-DM C-B01 26-4 Revised March, 2012 26.2 _DMC_01_set_rm _mpg_axes_enable2 FORMAT I16 PASCAL _DMC_01_set_rm_mpg_axes_enabl e2 (U16 CardNo, U1.
Chapter 26 MPG and JOG Oper ation API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 26-5 NOTE The above example is explained below: Conditions : Assuming one full turn of MPG is 100 clicks, MPG ratio X10, ratio=10, Denominator=36, pulse_r atio =4, slope=1000, electronic gear ratio is P1.
Chapter 26 MPG and JOG Opera tion API | PCI-DMC-A01 / PCI-DM C-B01 26-6 Revised March, 2012 26.3 _DMC_01_set_rm_jog_axes_enable FORMAT I16 PASCAL _DMC_01_set_rm_jog_axes_enable (U16 CardNo, U16 MasterNodeID, U16 MasterSlotID, U16* NodeID, U16* Slo tID, U16 enable, U16 jog_mode, I32 *jog_speed, F64 *sec) Purpose Sets JOG motion control.
Chapter 27 4-Channel Pulse Interface API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 27-1 Chapter 27 4-Channel Pulse Interface API Table 27.1 Function Name Description _DMC_01_set_rm_04pi_ipulse_m.
Chapter 27 4-Channel Pulse Inter face API | PCI-DMC-A01 / PCI-DM C-B01 27-2 Revised March, 2012 27.1 _DMC_01_set_rm_04pi_ipulse_mode FORMAT I16 PASCAL _DMC_01_set_rm_04pi_ipulse_mode (U16 CardNo, U16 NodeID, U16 Slot ID, U16 mode) Purpose Sets input phase mode for pulse interface module.
Chapter 27 4-Channel Pulse Interface API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 27-3 27.2 _DMC_01_set_rm_04pi_opulse_mode FORMAT I16 PASCAL _DMC_01_set_rm_04pi_opulse_mode (U16 CardNo, U16 NodeID, U16 SlotID ,U16 mode) Purpose Sets output phase mode for pulse interface module.
Chapter 27 4-Channel Pulse Inter face API | PCI-DMC-A01 / PCI-DM C-B01 27-4 Revised March, 2012 27.3 _DMC_01_set_rm_04pi_svon_polarity FORMAT I16 PASCAL _DMC_01_set_rm_04pi_svon_polarity (U1 6 CardNo, U16 NodeID, U16 SlotID, U16 polarity) Purpose Sets POWER ON (SVON) level.
Chapter 27 4-Channel Pulse Interface API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 27-5 27.4 _DMC_01_set_rm_04pi_DO2 FORMAT I16 PASCAL _DMC_01_set_rm_04pi_DO2 (U16 CardNo, U16 NodeID, U16 SlotID, U16 ON_OFF) Purpose Enables DO2 port configuration.
Chapter 27 4-Channel Pulse Inter face API | PCI-DMC-A01 / PCI-DM C-B01 27-6 Revised March, 2012 27.5 _DMC_01_set_rm_04pi_homing_ratio FORMAT I16 PASCAL _DMC_01_set_rm_04pi _homing_ratio (U16 CardNo, U16 NodeI D, U16 SlotID, U16 ratio) Purpose Sets the rated torque multiplier for Homing mode.
Chapter 27 4-Channel Pulse Interface API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 27-7 27.6 _DMC_01_04pi_set_poweron FORMAT I16 PASCAL _DMC_01_04pi_set_poweron ( U16 CardNo, U16 NodeID, U16 SlotID, U16 ON_OFF) Purpose Enables/disables PWR ON(SVON).
Chapter 27 4-Channel Pulse Inter face API | PCI-DMC-A01 / PCI-DM C-B01 27-8 Revised March, 2012 27.7 _DMC_01_rm_04PI_get_buffer FORMAT I16 PASCAL _DMC_01_rm_04PI_get_buffer (U 16 CardNo, U16 NodeID, U16 SlotID, U16 *bufferLength) Purpose Retrieves the buffered motion command.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-1 Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API Table 28.1 Function Name Description _DMC_01_rm_04pi_md1_start_move Perform 1-axis motion control under RM04PI Mode 1.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-2 Revised March, 2012 Function Name Description _DMC_01_rm_04pi_md1_set_soft_limit Enable/disable softw.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-3 28.1 _DMC_01_rm_04pi_md1_start_move FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_st.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-4 Revised March, 2012 Example U16 CardNo=0; U16 NodeID =1; U16 SlotID = 0; I32 Dist = 1280000; U16 StrVel = 1000, MaxVel =12800; F64 Tacc=0.1, Tdec=0.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-5 28.2 _DMC_01_rm_0 4pi_md1_v_move FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_v_mov.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-6 Revised March, 2012 28.3 _DMC_01_rm_04pi_md1_start_line2 FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_st.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-7 Example U16 CardNo=0, NodeID=1, SlotID[2] ={0, 1}; I32 Dist[2]={30000, 40000}; I32 StrVel=0, MaxVel=3000; F64 Tacc=0.1, Tdec=0.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-8 Revised March, 2012 28.4 _DMC_01_rm_04pi_md1_start_line3 FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_st.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-9 Example U16 CardNo=0, NodeID=1, SlotID[3] ={0,1,2}; I32 Dist[3]={10000, 20000, 30000}; I32 StrVel=0, MaxVel=3000; F64 Tacc=0.1, Tdec=0.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-10 Revised March, 2012 28.5 _DMC_01_rm_04pi_md1_start_line4 FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_s.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-11 Example U16 CardNo=0, NodeID=1, SlotID[4] ={0,1,2,3}; I32 Dist[4]={10000, 20000, 30000, 40000}; I32 StrVel=0, MaxVel=3000; F64 Tacc=0.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-12 Revised March, 2012 28.6 _DMC_01_rm_04pi_md1_start_arc FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_sta.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-13 Example U16 CardNo=0, NodeID=1, SlotID[2]={0,1}; I32 Center[2]={5000,5000}, StrVel=0, MaxVel=1000; F64 Tacc=0.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-14 Revised March, 2012 28.7 _DMC_01_rm_04pi_md1_start_arc2 FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_st.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-15 Example U16 CardNo=0, NodeID=1, SlotID[2]={0,1}; I32 End[2]={5000,5000}, St rVel=0, MaxVel=1000; F64 Tacc=0.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-16 Revised March, 2012 28.8 _DMC_01_rm_04pi_md1_start_arc3 FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_st.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-17 Example U16 CardNo=0, NodeID=1, SlotID[2 ]={0,1}, m_curve=1, m_r_a=1; I32 Center[2]={5000,2500}, End[2]={ 10000,5000}, StrVel=0, MaxVel=1000; I16 dir=1; //Clockwise F64 Tacc=0.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-18 Revised March, 2012 28.9 _DMC_01_rm_04p i_md1_start_he li FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-19 Example U16 CardNo=0, NodeID=1, SlotID[3] ={0,1,2}, m_curve=1, m_r_a=1; I32 Center[3]={5000,2500,2500}, Dept h = 2500, Pitch = 500, StrV el = 0, MaxVel = 1000; I16 dir=1; //Clockwise F64 Tacc=0.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-20 Revised March, 2012 28.10 _DMC_01_rm_04pi_md1_p_change FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_p_change (U16 CardNo, U16 NodeID, U16 Slot ID, I32 NewPos) Purpose Replaces the current position with a new position value under RM04PI Mode 1.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-21 28.11 _DMC_01_rm_0 4pi_md1_v_chang e FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-22 Revised March, 2012 28.12 _DMC_01_rm_04p i_md1_set_gear FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_se.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-23 28.13 _DMC_01_rm_04pi_ md 1_set_soft_limit FORMAT I16 PASCAL _DMC_01_rm_04p.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-24 Revised March, 2012 28.14 _DMC_01_rm_04pi_md 1_get_soft_limit_statu s FORMAT I16 PASCAL _DMC_01_.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-25 28.15 _DMC_01_rm_0 4pi_md1_set_sld FORMAT I16 PASCAL _DMC_01_rm_04pi_md1_set_sld (U 16 CardNo, U16 NodeID, U16 SlotID, I16 enable, I16 sd_logic,I16 mode) Purpose Enables SLD port (DI3) and sets the profile.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-26 Revised March, 2012 28.16 _DMC_01_rm_04pi_md 1_get_mc_error_code FORMAT I16 PASCAL _DMC_01_rm_04.
Chapter 28 4-Channel Pulse Interface (M ode 1) Motion Control API | PCI-DMC-A01 / PCI-DM C-B01 Revised March, 2012 28-27 28.17 _DMC_01_set_rm _04pi_ref_counter FORMAT I16 PASCAL _DMC_01_set_rm_04p.
Chapter 28 4-Channel Pulse Inter face (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 28-28 Revised March, 2012 (This page intentionally left blank.
Chapter 29 4-Channel Analog Outpu t Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 29-1 Chapter 29 4-Channel Analog Output Remote I/O Module API Table 29.
Chapter 29 4-Channel Analog Outp ut Remote I/O Module API | PCI-DMC-A 01 / PCI-DMC-B01 29-2 Revised March, 2012 29.1 _DMC_01_rm_04da_set_output_value FORMAT I16 PASCAL _DMC_01_rm_04da_set_output_value (U1 6 CardNo, U16 NodeID, U16 SlotID, U16 ChannelNo, U16 Value) Purpose Sets value of DA output.
Chapter 29 4-Channel Analog Outpu t Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 29-3 29.2 _DMC_01_rm_04da_get_output_value FORMAT I16 PASCAL _DMC_01_rm_04da_get_output_value (U16 CardNo, U16 NodeID,U16 SlotI D, U16 ChannelNo, U16 *Value) Purpose Reads the value of the DA output.
Chapter 29 4-Channel Analog Outp ut Remote I/O Module API | PCI-DMC-A 01 / PCI-DMC-B01 29-4 Revised March, 2012 29.3 _DMC_01_rm_04d a_get_return_code FORMAT I16 PASCAL _DMC_01_rm_04da_get_return_code (U16 CardNo, U16 NodeID, U16 Slot ID, U16 ChannelNo, U16* ReturnCode) Purpose Reads DA status.
Chapter 29 4-Channel Analog Outpu t Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 29-5 29.4 _DMC_01_rm_04da_set_output_range FORMAT I16 PASCAL _DMC_01_rm_04da_set_output_range (U 16 CardNo, U16 NodeID, U16 SlotID, U16 ChannelNo, U16 Range) Purpose Sets the DA output range.
Chapter 29 4-Channel Analog Outp ut Remote I/O Module API | PCI-DMC-A 01 / PCI-DMC-B01 29-6 Revised March, 2012 29.5 _DMC_01_rm_04da_set_output_enable FORMAT I16 PASCAL _DMC_01_rm_04da_set_output_enable (U16 CardNo, U16 Nod eID,U16 SlotID, U16 ChannelNo, U16 Enable) Purpose Enables/disables pin output.
Chapter 29 4-Channel Analog Outpu t Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 29-7 29.6 _DMC_01_rm_04da_set_output_overrange FORMAT I16 PASCAL _DMC_01_rm_04da_set_output_overrange (U16 CardNo, U16 NodeID, U16 SlotID, U16 ChannelNo, U16 On_Off) Purpose Increases output range by 10%.
Chapter 29 4-Channel Analog Outp ut Remote I/O Module API | PCI-DMC-A 01 / PCI-DMC-B01 29-8 Revised March, 2012 29.7 _DMC_01_rm_04da_set_output_error_clear FORMAT I16 PASCAL _DMC_01_rm_04da_set_output_erro r_clear (U16 CardNo, U16 NodeID, U16 SlotID, U16 ChannelNo, U16 On_Off) Purpose Clears error status.
Chapter 29 4-Channel Analog Outpu t Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 29-9 29.8 _DMC_01_rm_04da_read_data FORMAT I16 PASCAL _DMC_01_rm_04da_read_data (U16 Ca rdNo, U16 NodeID, U16 SlotID, U16 ChannelNo, U16* data) Purpose Retrieves current DA number.
Chapter 29 4-Channel Analog Outp ut Remote I/O Module API | PCI-DMC-A 01 / PCI-DMC-B01 29-10 Revised March, 2012 29.9 _DMC_01_rm_04da_set_output_error_hand le FORMAT I16 PASCAL _DMC_01_rm_04da_set.
Chapter 29 4-Channel Analog Outpu t Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 29-11 29.10 _DMC_01_rm_04da_set_output_offset_value FORMAT I16 PASCAL _DMC_01_rm_04da_set_output_o ffset_value (U16 CardNo, U16 NodeID, U16 SlotID, U16 ChannelNo, I16 Value) Purpose Sets the DA offset value.
Chapter 29 4-Channel Analog Outp ut Remote I/O Module API | PCI-DMC-A 01 / PCI-DMC-B01 29-12 Revised March, 2012 29.11 _DMC_01_rm_04da_get_output_offset_value FORMAT I16 PASCAL _DMC_01_rm_04da_get_output_offs et_value (U16 CardNo, U16 NodeID, U16 SlotID, U16 ChannelNo, I16 *Value) Purpose Reads the DA offset value.
Chapter 30 4-Channel Analog Input Remote I/O M odule API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 30-1 Chapter 30 4-Channel Analog Input Remote I/O Module API Table 30.
Chapter 30 4-Channel Analog Input Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 30-2 Revised March, 2012 30.1 _DMC_01_set_04ad_input_range FORMAT I16 _DMC_01_set_04ad_in put_range (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno, U16 range) Purpose Sets the AD input range.
Chapter 30 4-Channel Analog Input Remote I/O M odule API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 30-3 30.2 _DMC_01_get_04ad_input_range FORMAT I16 _DMC_01_get_04ad_input _range (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno, U16 *range) Purpose Retrieves the current AD Input range.
Chapter 30 4-Channel Analog Input Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 30-4 Revised March, 2012 30.3 _DMC_01_set_04ad_zero_scale FORMAT I16 _DMC_01_set_04ad_zero_scale (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno) Purpose Sets AD zero level for range calibration.
Chapter 30 4-Channel Analog Input Remote I/O M odule API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 30-5 30.4 _DMC_01_get_04ad _zero_scale_statu s FORMAT I16 _DMC_01_get_04ad_zero_scale_status (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno, U16* status) Purpose Checks if AD zero calibration is complete.
Chapter 30 4-Channel Analog Input Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 30-6 Revised March, 2012 30.5 _DMC_01_set_04ad_full_scale FORMAT I16 _DMC_01_set_04ad_full_scale (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno) Purpose Sets AD maximum level for range calibration.
Chapter 30 4-Channel Analog Input Remote I/O M odule API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 30-7 30.6 _DMC_01_get_04ad _full_scale_status FORMAT I16 _DMC_01_get_04ad_full_scale_status (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno, U16* status) Purpose Checks if AD maximum level calibration is complete.
Chapter 30 4-Channel Analog Input Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 30-8 Revised March, 2012 30.7 _DMC_01_set_04ad _conversion_ time FORMAT I16 _DMC_01_set_04ad_conversion_time (U16 CardNo, U16 NodeID, U16 SlotID, U16 mode) Purpose Sets AD conversion time.
Chapter 30 4-Channel Analog Input Remote I/O M odule API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 30-9 30.8 _DMC_01_get_04ad _conversion_ time FORMAT I16 _DMC_01_get_04ad_conversion_time (U16 Ca rdNo, U16 NodeID, U16 SlotID, U16* mode) Purpose Retrieves current AD conversion time.
Chapter 30 4-Channel Analog Input Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 30-10 Revised March, 2012 30.9 _DMC_01_get_04ad_data FORMAT I16 _DMC_01_get_04ad_data (U16 CardNo, U16 N odeI D, U16 SlotID, U16 channelno, U16* value) Purpose Reads input voltage.
Chapter 30 4-Channel Analog Input Remote I/O M odule API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 30-11 30.10 _DMC_01_set_04 ad_average_mode FORMAT I16 _DMC_01_set_04ad_average_mode (U16 Card No, U16 NodeID, U16 Slot ID, U16 channelno, U16 mode) Purpose Sets AD average mode.
Chapter 30 4-Channel Analog Input Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 30-12 Revised March, 2012 30.11 _DMC_01_get_0 4ad_average_mode FORMAT I16 _DMC_01_get_04ad_average_mode (U16 CardNo, U16 NodeID, U16 Slot ID, U16 channelno, U16* mode) Purpose Retrieves AD average mode.
Chapter 30 4-Channel Analog Input Remote I/O M odule API | PCI-DMC-A01 / PCI-DMC-B0 1 Revised March, 2012 30-13 30.12 _DMC_01_set_04ad_input_enable FORMAT I16 _DMC_01_set_04ad_input_enable (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno, U16 ON_OFF) Purpose Enables/disables AD C hannel Input feedback.
Chapter 30 4-Channel Analog Input Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01 30-14 Revised March, 2012 (This page intentionally left blank.).
Chapter 31 Slave Data API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 31-1 Chapter 31 Slave Data API Table 31.1 Function Name Description _DMC_01_get_devicetype Get Slave device type _DMC_01_get_s.
Chapter 31 Slave Data AP I | PCI-DMC-A01 / PCI-DM C-B01 31-2 Revised March, 2012 31.1 _DMC_01_get_devicetype FORMAT I16 PASCAL _DMC_01_get_devicetype (I16 CardNo, U16 NodeID, U16 SlotID, U32 *DeviceType, U3 2 *IdentityObject) Purpose Retrieves slave device type.
Chapter 31 Slave Data API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 31-3 NOTE ※ Table of device type codes used for the DeviceType variable: Device Type Code Device Type Code A2 Series Servo D.
Chapter 31 Slave Data AP I | PCI-DMC-A01 / PCI-DM C-B01 31-4 Revised March, 2012 31.2 _DMC_01_get_slave_version FORMAT I16 PASCAL _DMC_01_get_slave_version (I16 CardNo, U16 NodeID,U16 Slot ID, U16* version) Purpose Retrieves slave device firmware version.
Chapter 32 Parameter Monitoring API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 32-1 Chapter 32 Parameter Monitoring API Table 32.1 Function Name Description _DMC_01_set_monitor Set parameter to m.
Chapter 32 Parameter Monitoring API | PCI-DM C-A01 / PCI-DMC-B01 32-2 Revised March, 2012 32.1 _DMC_01_set_monitor FORMAT I16 PASCAL _DMC_01_set_monitor (U16 CardNo , U16 NodeID, U16 SlotID, U16 monitorw) Purpose Sets parameter to monitor.
Chapter 32 Parameter Monitoring API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 32-3 Reference Table 32.2 Monitor item index Monitor item Unit Data length 04PI Servo 0 Motor feedback pulse (af.
Chapter 32 Parameter Monitoring API | PCI-DM C-A01 / PCI-DMC-B01 32-4 Revised March, 2012 Monitor item index Monitor item Unit Data length 04PI Servo 15 Load/motor inertia ratio 0.
Chapter 32 Parameter Monitoring API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 32-5 32.2 _DMC_01_get_monitor FORMAT I16 PASCAL _DMC_01_set_command (U16 CardNo , U16 NodeID, U16 SlotID, U32 cmd) Purpose Retrieves value of monitored parameter.
Chapter 32 Parameter Monitoring API | PCI-DM C-A01 / PCI-DMC-B01 32-6 Revised March, 2012 32.3 _DMC_01_get_servo_command FORMAT I16 PASCAL _DMC_01_get_servo_command (U16 CardNo, U16 NodeID, U16 SlotID, U32 *servo_cmd) Purpose Retrieves servo drive command value.
Chapter 32 Parameter Monitoring API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 32-7 32.4 _DMC_01_get_servo_DI FORMAT I16 PASCAL _DMC_01_get_servo_DI (U16 CardNo, U16 NodeID, U16 SlotID, U16 *servo_DI) Purpose Retrieves server DI message value.
Chapter 32 Parameter Monitoring API | PCI-DM C-A01 / PCI-DMC-B01 32-8 Revised March, 2012 32.5 _DMC_01_get_servo_DO FORMAT I16 PASCAL _DMC_01_get_servo_DO (U16 CardNo, U16 NodeID, U16 SlotID, U16 *servo_DO) Purpose Retrieves server DO message value.
Chapter 33 Alarm Message API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 33-1 Chapter 33 Alarm Message API Table 33.1 Function Name Description _DMC_01_set_ralm Reset output servo drive alarm mess.
Chapter 33 Alarm Message API | PCI-DM C-A01 / PCI-DMC-B0 1 33-2 Revised March, 2012 33.1 _DMC_01_set_ralm FORMAT I16 PASCAL _DMC_01_set_ralm (U16 CardNo, U16 NodeID, U16 SlotID) Purpose Resets output servo drive alarm message.
Chapter 33 Alarm Message API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 33-3 33.2 _DMC_01_get_alm_code FORMAT I16 PASCAL _DMC_01_get_alm_code (U16 Ca rdNo, U16 NodeID, U16 Slot ID, U32 *alm_code) Purpose Retrieves slave alarm code.
Chapter 33 Alarm Message API | PCI-DM C-A01 / PCI-DMC-B0 1 33-4 Revised March, 2012 33.3 _DMC_01_master_alm_code FORMAT I16 PASCAL _DMC_01_master_alm_code (U16 CardNo,U16* alm_code) Purpose Retrieves the Master Card connection alarm code.
Chapter 33 Alarm Message API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 33-5 33.4 _DMC_01_slave_error FORMAT I16 PASCAL _DMC_01_slave_error (U16 CardNo , U16 NodeID,U16 SlotID,U16* alm_cnt) Purpose Retrieves number of consecutive erro rs during slave communications.
Chapter 33 Alarm Message API | PCI-DM C-A01 / PCI-DMC-B0 1 33-6 Revised March, 2012 (This page intentionally left blank.).
Chapter 34 Multi-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 34-1 Chapter 34 Multi-Axis Motion Control API Table 34.1 Function Name Description _DMC_01_multi_axes_move Set.
Chapter 34 Multi-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC- B01 34-2 Revised March, 2012 34.1 _DMC_01_multi_axes_move FORMAT I16 PASCAL _DMC_01_multi_axes_move(U16 CardNo,U16 Axis Num, U16* .
Chapter 34 Multi-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 34-3 Example U16 CardNo=0, AxisNum=4; U16 NodeID[4]={1,2,3,4}, SlotID[4]={0,1,2,3}; I32 DistArrary[4]={1000, 2000, 3000, 6000}; I32 StrVel=1000, MaxVel=50000; F64 Tacc=0.
Chapter 34 Multi-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC- B01 34-4 Revised March, 2012 34.2 _ DMC_01_liner_speed_master FORMAT I16 PASCAL _ DMC_01_liner_speed_master (U16 CardNo,U16 AxisNu.
Chapter 34 Multi-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B 01 Revised March, 2012 34-5 34.3 _DMC_01_start_v3_multi_axes FORMAT I16 PASCAL _DMC_01_start_v3_multi_axes(U16 CardNo,U16 AxisNum.
Chapter 34 Multi-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC- B01 34-6 Revised March, 2012 Description Figure 34.1 Explanation of TPhase1 and TPhase2 Example U16 CardNo=0, AxisNum=4; U16 NodeID[4]={1,2,3,4}, SlotID[4]={0,1,2,3}; I32 DistArrary[4]={1000, 2000, 3000, 6000}; I32 StrVel=1000, MaxVel=50000; I32 EndVel=20000; F64 TPhase1=0.
Chapter 35 Buffer Operation API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 35-1 Chapter 35 Buffer Operation API Table 35.1 Function Name Description _DMC_01_set_trigger_buf_function Use servo dri.
Chapter 35 Buffer Operation API | PCI-DM C-A01 / PCI-DMC-B0 1 35-2 Revised March, 2012 35.1 _DMC_01_set_tr igger_buf_function FORMAT I16 PASCAL _DMC_01_set_trigger_buf_function (I16 CardNo, U16 NodeID, U16 SlotID, U16 enable) Purpose Uses servo drive DI3 (SLD) to trigger Motion command.
Chapter 36 Interrupt AP I | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 36-1 Chapter 36 Interrupt API Table 36.1 Function Name Description _DMC_01_set_int_factor Set interrupt mode. Total of 8 modes available. _DMC_01_int_enable Enable interrupt feedback _DMC_01_int_disable Disable disable interrupt.
Chapter 36 Interrupt API | PCI-DM C-A01 / PCI-DMC-B01 36-2 Revised March, 2012 36.1 _DMC_01_ set_int_factor FORMAT I16 PASCAL _DMC_01_set_int_factor (U16 CardNo, U16 NodeID, U16 int_factor) Purpose Sets interrupt mode.
Chapter 36 Interrupt AP I | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 36-3 36.2 _DMC_01_ int_enable FORMAT I16 PASCAL _DMC_01_int_enable (U16 Car dNo, U16 NodeID) Purpose Enables interrupt.
Chapter 36 Interrupt API | PCI-DM C-A01 / PCI-DMC-B01 36-4 Revised March, 2012 36.4 _DMC_01_ get_int_count FORMAT I16 PASCAL _DMC_01_get_int_count (U16 CardNo, U16 NodeID, U16 count) Purpose Reads interrupt count.
Chapter 36 Interrupt AP I | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 36-5 36.5 _DMC_01_ get_int_status FORMAT I16 PASCAL _DMC_01_get_int_status (U16 CardNo, U16 NodeID, U16 event_int_status) Purpose Reads current interrupt mode.
Chapter 36 Interrupt API | PCI-DM C-A01 / PCI-DMC-B01 36-6 Revised March, 2012 36.6 _DMC_01_link_ interru pt FORMAT I16 PASCAL _DMC_01_link_interrupt (U16 Card No, void (__stdcall *callbackAddr) (U16 CardNo, U16 NodeID)) Purpose Sets a handler procedure.
Chapter 37 Security API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 37-1 Chapter 37 Security API Table 37.1 Function Name Description _DMC_01_read_security Master Card: read security data at speci.
Chapter 37 Security API | PCI-DMC -A01 / PCI-DMC-B01 37-2 Revised March, 2012 37.1 _DMC_01_ read_security FORMAT I16 PASCAL _DMC_01_read_security (U 16 CardNo, U16 page, U16 array) Purpose Reads security data specified by the Master Card from memory.
Chapter 37 Security API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 37-3 37.3 _DMC_01_write_security FORMAT I16 PASCAL _DMC_01_write_security (U16 CardNo, U16 page, U16 array ) Purpose Writes security data to memory blo ck specified by the Master Card.
Chapter 37 Security API | PCI-DMC -A01 / PCI-DMC-B01 37-4 Revised March, 2012 37.5 _DMC_01_ check_userpassword FORMAT I16 PASCAL _DMC_01_ check_userpassword (U16 CardNo, U32 p assword_data, U16 password_state) Purpose Before reading/writing data on the Master Card, checks that user has permission to read/write to memory.
Chapter 37 Security API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 37-5 37.7 _DMC_01_check_verifykey FORMAT I16 PASCAL _DMC_01_check_verifykey (U16 CardNo, U32 Verifykey, U16state) Purpose Master Card: Checks verify key matches.
Chapter 37 Security API | PCI-DMC -A01 / PCI-DMC-B01 37-6 Revised March, 2012 37.9 _DMC_01_ read_serialno FORMAT I16 PASCAL _DMC_01_ read_serialno (U16 CardNo, U32 Serialno) Purpose Reads product serial number in the Master Card memory.
Chapter 37 Security API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 37-7 37.10 misc_slave_check_userpassword FORMAT I16 PASCAL _misc_slave_check_userpassword (U 16 CardNo, U16 NodeID, U16 Slot.
Chapter 37 Security API | PCI-DMC -A01 / PCI-DMC-B01 37-8 Revised March, 2012 37.11 _misc_slave_write_userpasswo rd FORMAT I16 PASCAL _misc_slave_write_userpassword (U16 CardNo, U16 NodeID, U16 SlotID, U32 Password_datae) Purpose Writes user password to Slave(04PI).
Chapter 37 Security API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 37-9 37.12 _misc_slave_get_serialno FORMAT I16 PASCAL _misc_slave_get_serialno (U16 Card No, U16 NodeI D, U16 Sl otID, U32 Serialno) Purpose Reads Slave(04PI) product serial number.
Chapter 37 Security API | PCI-DMC -A01 / PCI-DMC-B01 37-10 Revised March, 2012 37.13 _misc_security FORMAT I16 PASCAL _misc_security (U32 OtherWord0, U 32 OtherWord1, U32 SyntekWord0, U32 SyntekWo.
Chapter 37 Security API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 37-11 37.14 _misc_slave_write_verifykey FORMAT I16 PASCAL _misc_slave_write_verifykey (U16 CardNo, U16 NodeID, U16 SlotID, U32 Verifykey) Purpose Writes verify key to Slave(04PI).
Chapter 37 Security API | PCI-DMC -A01 / PCI-DMC-B01 37-12 Revised March, 2012 37.15 _misc_slave_ check_verifykey FORMAT I16 PASCAL _misc_slave_check_verifykey (U16 CardNo, U16 NodeID, U16 SlotID, U32 Verifykey, U16 *Lock_state) Purpose Checks verify key against Slave (04PI).
Chapter 37 Security API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 37-13 37.16 _misc_slave_user _data_buffer_read FORMAT I16 PASCAL _ misc_slave_user_data_buffer_read (U16 CardNo, U16 NodeID, U16 SlotID U16 Address, U32* Data) Purpose Reads data from memory specified by Slave (04PI).
Chapter 37 Security API | PCI-DMC -A01 / PCI-DMC-B01 37-14 Revised March, 2012 37.17 _misc_slave_user _data_buffer_write FORMAT I16 PASCAL _misc_slave_user_dat a_buffer_write (U16 CardNo, U16 NodeID, U16 SlotID U16 Address, U32 Data) Purpose Writes data to buffer.
Chapter 37 Security API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 37-15 37.18 _misc_slave_us er_data_to_flash FORMAT I16 PASCAL _ misc_slave_user_data_to_flash (U16 CardNo, U16 NodeID, U16 SlotID) Purpose Writes data in buffer to positi on specified by Slave(04PI).
Chapter 37 Security API | PCI-DMC -A01 / PCI-DMC-B01 37-16 Revised March, 2012 (This page intentionally left blank.).
Chapter 38 Limit Reversal API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 38-1 Chapter 38 Limit Reversal API Table 38.1 Function Name Description _DMC_01_rm_04pi_set_MEL_polarity Set negative limi.
Chapter 38 Limit Revers al API | PCI-DMC-A01 / PCI-DM C-B01 38-2 Revised March, 2012 38.1 _ DMC_01_rm_04pi_set_MEL_polarity FORMAT I16 PASCAL _DMC_01_rm_04pi_set _MEL_polarity (U16 CardNo, U16 NodeID, U16 Slot ID U16 inverse) Purpose Reverses direction of negative limit.
Chapter 38 Limit Reversal API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 38-3 38.2 _ DMC_01_rm_04pi_get_MEL_polarity FORMAT I16 PASCAL _DMC_01_rm_04pi_get_M EL_polarity (U16 CardNo, U16 Nod eID, U16 SlotID U16 *data) Purpose Retrieves current status of negative limit.
Chapter 38 Limit Revers al API | PCI-DMC-A01 / PCI-DM C-B01 38-4 Revised March, 2012 38.3 _ DMC_01_rm_04pi_set_PEL_polarity FORMAT I16 PASCAL _DMC_01_rm_04pi_set_PEL_polarity (U16 CardNo, U16 NodeID, U16 Slot ID U16 inverse) Purpose Reverses direction of positive limit.
Chapter 38 Limit Reversal API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 38-5 38.4 _ DMC_01_rm_04pi_get_PEL_polarity FORMAT I16 PASCAL _DMC_01_rm_04pi_get_PEL_polarity (U16 CardNo, U16 Nod eID, U16 SlotID U16 *data) Purpose Retrieves positive limit status.
Chapter 38 Limit Revers al API | PCI-DMC-A01 / PCI-DM C-B01 38-6 Revised March, 2012 (This page intentionally left blank.).
Chapter 39 Compare API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 39-1 Chapter 39 Compare API Table 39.1 Function Name Description _DMC_01_set_compare_channel_position Set new Channel Position _D.
Chapter 39 Compare AP I | PCI-DMC-A01 / PCI-DM C-B01 39-2 Revised March, 2012 39.1 _ DMC_01_set_compare_channel_po sition FORMAT I16 PASCAL _ DMC_01_set_compare_c hannel_position (U16 CardNo, U16 compare_channel, I32 position) Purpose Sets new value for Position counter of Channel.
Chapter 39 Compare API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 39-3 39.2 _DMC_01_get_compare_channel_position FORMAT I16 PASCAL _DMC_01_get_compare_channel_positio n (U16 CardNo, U16 compare_Channel, I32 *position) Purpose Reads current value of Positi on counter for that Channel.
Chapter 39 Compare AP I | PCI-DMC-A01 / PCI-DM C-B01 39-4 Revised March, 2012 39.3 _DMC_01_set_compare_ipulse_mode FORMAT I16 PASCAL _DMC_01_set_compare_ipulse_mode (U16 CardNo, U16 mode) Purpose Sets input phase mode for pulse interface module.
Chapter 39 Compare API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 39-5 39.4 _DMC_01_set_compare_channel_direction FORMAT I16 PASCAL _DMC_01_set_compare_channel_direction (U16 CardNo, U16 compare_channel, U16 dir) Purpose Sets Channel pulse direction.
Chapter 39 Compare AP I | PCI-DMC-A01 / PCI-DM C-B01 39-6 Revised March, 2012 39.5 _DMC_01_set_compare_ channel_trigger_time FORMAT I16 PASCAL _DMC_01_set_compare_chan nel_trigger_time (U16 CardNo, U16 compare_channel, U32 time_us) Purpose Sets Trigger enable duration.
Chapter 39 Compare API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 39-7 39.6 _DMC_01_set_compar e_channel_o ne_shot FORMAT I16 PASCAL _DMC_01_set_compare_channel_one_shot (U16 CardNo, U16 compare_channel) Purpose Sets Trigger to one-time enable.
Chapter 39 Compare AP I | PCI-DMC-A01 / PCI-DM C-B01 39-8 Revised March, 2012 39.7 _DMC_01_set_comp are_chan nel_source FORMAT I16 PASCAL _DMC_01_set_compare_channel_source (U16 CardNo, U16 compare_channel, U16 source) Purpose Sets comparison source.
Chapter 39 Compare API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 39-9 39.8 _DMC_01_channel0_position_cmp FORMAT I16 PASCAL _DMC_01_channel0_position_cmp (U 16 CardNo, I32 start, U16 dir, U16 interval, U32 trigger_cnt) Purpose Executes Compare1.
Chapter 39 Compare AP I | PCI-DMC-A01 / PCI-DM C-B01 39-10 Revised March, 2012 39.9 _DMC_01_channel1_output_enab le FORMAT I16 PASCAL _DMC_01_channel1_output_enable (U16 CardNo, U16 on_off) Purpose Sets Compare2 output to enable/disable.
Chapter 39 Compare API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 39-11 39.10 _DMC_01_channel1_output_mode FORMAT I16 PASCAL _DMC_01_channel1_output_mode (U16 CardNo, U16 Mode) Purpose Compare2 output mode.
Chapter 39 Compare AP I | PCI-DMC-A01 / PCI-DM C-B01 39-12 Revised March, 2012 Custom mode When set to custom mode, level table's value is set to 0x88880 000 as shown in Fig.
Chapter 39 Compare API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 39-13 39.11 _DMC_01_channel1_get_io_status FORMAT I16 PASCAL _DMC_01_channel1_get_io_status (U16 CardNo, U16* io_status) Purpose Reads Compare2 status.
Chapter 39 Compare AP I | PCI-DMC-A01 / PCI-DM C-B01 39-14 Revised March, 2012 39.12 _DMC_01_channel1_set_gpio_ou t FORMAT I16 PASCAL _DMC_01_channel1_set_gpi o_out (U16 CardNo, U16 on_off) Purpose Sets GPIO output pin status.
Chapter 39 Compare API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 39-15 39.13 _DMC_01_channel1_position_compare_table FORMAT I16 PASCAL _DMC_01_channel1_position_compar e_table (U16 CardNo, I32* pos_table, U32 table_size,) Purpose Sets Compare2 to standard Compare data.
Chapter 39 Compare AP I | PCI-DMC-A01 / PCI-DM C-B01 39-16 Revised March, 2012 39.14 _DMC_01_channel1_position_compare_table_level FORMAT I16 PASCAL _DMC_01_channel1_position_com pare_table_leve l (U16 CardNo, I32* pos_table, U32* level_t able, U32 table_size) Purpose Sets Compare2 to custom Compare data.
Chapter 39 Compare API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 39-17 39.15 _DMC_01_channel1_position_compare_table_cn t FORMAT I16 PASCAL _DMC_01_channel1_position_compar e_table_cnt (U16 CardNo, U32* cnt) Purpose Reads Compare counter.
Chapter 39 Compare AP I | PCI-DMC-A01 / PCI-DM C-B01 39-18 Revised March, 2012 39.16 _DMC_01_set_compare_channel_polarit y FORMAT I16 PASCAL _DMC_01_set_compare_channel_polarity (U16 CardNo, U16 inverse) Purpose Sets Compare level.
Chapter 39 Compare API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 39-19 39.17 _DMC_01_channel0_position_cmp_by_g pio FORMAT I16 PASCAL _DMC_01_channel0_position_cmp_by_gpio (U16 CardNo, U16 dir, U16 interval, I32 trigger_cnt) Purpose Sets Compare trigger to GPIO control.
Chapter 39 Compare AP I | PCI-DMC-A01 / PCI-DM C-B01 39-20 Revised March, 2012 39.18 _DMC_01_channel1_pos ition_re_compare_table FORMAT I16 PASCAL _DMC_01_channel1_position_re_compare_table (U16 CardNo) Purpose Uses previous Compare condition and re-executes Channel1 Compare.
Chapter 40 Linear and Arc Interpol ation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 40-1 Chapter 40 Linear and Arc Interpolation Motion Control API Table 40.
Chapter 40 Linear and Arc Interpola tion Motion Control API | PCI-DMC-A0 1 / PCI-DMC-B01 40-2 Revised March, 2012 40.1 _DMC_01_start_rline_xy FORMAT I16 PASCAL _DMC_01_start_rline_xy (U16 Ca rdNo,.
Chapter 40 Linear and Arc Interpol ation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 40-3 Description Mode Parameter Settings Example U16 CardNo=0, *NodeID=1, *SlotID=0; I32 pos1_x=0, I32 pos1_y=10000; I32 pos2_x=10000, I32 pos2_y=10000; U16 mode=1; param=3000; I32 StrVel=100, MaxVel=5000; F64 Tacc=0.
Chapter 40 Linear and Arc Interpola tion Motion Control API | PCI-DMC-A0 1 / PCI-DMC-B01 40-4 Revised March, 2012 40.2 _DMC_01_start_rline_xyz FORMAT I16 PASCAL _DMC_01_start_rline_xyz (U16 Ca rdN.
Chapter 40 Linear and Arc Interpol ation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 40-5 Description Mode Parameter Settings Example U16 CardNo=0, *NodeID=1, *SlotID=0;.
Chapter 40 Linear and Arc Interpola tion Motion Control API | PCI-DMC-A0 1 / PCI-DMC-B01 40-6 Revised March, 2012 40.3 _DMC_01_star t_v3_rline_xy FORMAT I16 PASCAL _DMC_01_start_v3_rline_xy (U16 C.
Chapter 40 Linear and Arc Interpol ation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 40-7 Description Figure 40.7 Explanation of TPhase1 and TPhase2 Mode Parameter Settings Figure 40.8 Mode = 0 Perpendicular distance from arc to right angle (AB ) Figure 40.
Chapter 40 Linear and Arc Interpola tion Motion Control API | PCI-DMC-A0 1 / PCI-DMC-B01 40-8 Revised March, 2012 Example U16 CardNo=0, *NodeID=1, *SlotID=0; I32 pos1_x=0, I32 pos1_y=10000; I32 pos2_x=10000, I32 pos2_y=10000; U16 mode=1; param=3000; I32 StrVel=100, MaxVel=50000; I32 EndVel=20000; F64 TPhase1=0.
Chapter 40 Linear and Arc Interpol ation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 40-9 40.4 _DMC_01_start_v3_rline_xyz FORMAT I16 PASCAL _DMC_01_start_v3_rline_xyz (U16 C.
Chapter 40 Linear and Arc Interpola tion Motion Control API | PCI-DMC-A0 1 / PCI-DMC-B01 40-10 Revised March, 2012 Example U16 CardNo=0, *NodeID=1, *SlotID=0; I32 pos1_x=0, I32 pos1_y=10000, I32 p.
Chapter 41 Speed Continue API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 41-1 Chapter 41 Speed Continue API Table 41.1 Function Name Description _DMC_01_speed_continue Enable/disable speed contin.
Chapter 41 Speed Continue API | PCI-DMC-A01 / PCI-DM C-B01 41-2 Revised March, 2012 41.1 _DMC_01_speed_continue FORMAT I16 PASCAL _DMC_01_speed_continue (U16 CardNo, U16 NodeID, U16 SlotID, U16 enable) Purpose Enables/disables speed continue.
Chapter 41 Speed Continue API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 41-3 41.2 _DMC_01_speed_continue_mod e FORMAT I16 PASCAL _DMC_01_speed_continue_m ode (U16 CardNo, U16 NodeID, U16 SlotID, U16 mode) Purpose Sets Speed Continue mode.
Chapter 41 Speed Continue API | PCI-DMC-A01 / PCI-DM C-B01 41-4 Revised March, 2012 Mode is 1 Assume conditions are set to Dist is 1000, Ma xVel is 20000, Tacc and Tdec are both 0.1. The above conditions mean the MaxVel of 20000 is impossible to reach during this Dist movement using the original a cceleration/deceleration time.
Chapter 41 Speed Continue API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 41-5 41.3 _DMC_01_speed_c ontinue_combine_ratio FORMAT I16 PASCAL _DMC_01_speed_continue_co mbine_r atio (U16 CardNo, U16 NodeID, U16 SlotID, U16 ratio) Purpose Sets Speed Continue combined percentage.
Chapter 41 Speed Continue API | PCI-DMC-A01 / PCI-DM C-B01 41-6 Revised March, 2012 NOTE ※ When axes 1 ~ 6 carr y out Speed Continue, the resources of axes 7 ~ 12 will be used. Thus, when axes 1~6 are set to Speed Co ntinue Enable, axes 7~12 cannot perform P2P and Continue motions.
Chapter 42 Other API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 42-1 Chapter 42 Other API Table 42.1 Function Name Description _misc_app_get_circle_endpoin t Get endpoint coordinates (X, Y) requi.
Chapter 42 Other API | PCI-DMC-A01 / PCI-DMC-B01 42-2 Revised March, 2012 42.1 _misc_app_get_circle_endpoint FORMAT I16 PASCAL _misc_app_get_circle_endpoint (I32 Start_X, I32 Start_Y, I32 Center_X, I32 Center_Y, F64 Angle, I32* End_x, I32* End_y) Purpose Retrieves endpoint coordinates (X, Y) required for arc interpolation.
Chapter 42 Other API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 42-3 42.2 _misc_app_get_circle_center_point FORMAT I16 PASCAL _misc_app_get_circle_c enter_point (I32 Start_X, I 32 Start_Y, I32 End_x, I32 End_y, F64 Angle, I32* Center_X, I32* Center_Y) Purpose Retrieves center point coordinates (X, Y) required for arc interpolation.
Chapter 42 Other API | PCI-DMC-A01 / PCI-DMC-B01 42-4 Revised March, 2012 42.3 _misc_set_record_debuging FORMAT I16 PASCAL _misc_set_record_debuging (U16 enable) Purpose Shows whether Debug log function is enabled.
Chapter 42 Other API | PCI-DMC-A01 / PCI-DMC-B01 Revised March, 2012 42-5 42.5 _DMC_01_enable_dda_mode FORMAT I16 PASCAL _DMC_01_enable_dda_mode (U16 CardNo, U16 en able) Purpose Enables DDA Table writing function. Parameters Name Data Type Unit Description CardNo U16 Number Unit Interface card CardNo are 0~15.
Chapter 42 Other API | PCI-DMC-A01 / PCI-DMC-B01 42-6 Revised March, 2012 42.6 _DMC_01_set_dda_data FORMAT I16 PASCAL _DMC_01_set_dda_data (U16 CardNo, U32* abs_pos) Purpose Enters DDA Table data.
An important point after buying a device Delta Electronics PCI-DMC-B01 (or even before the purchase) is to read its user manual. We should do this for several simple reasons:
If you have not bought Delta Electronics PCI-DMC-B01 yet, this is a good time to familiarize yourself with the basic data on the product. First of all view first pages of the manual, you can find above. You should find there the most important technical data Delta Electronics PCI-DMC-B01 - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Delta Electronics PCI-DMC-B01 you will learn all the available features of the product, as well as information on its operation. The information that you get Delta Electronics PCI-DMC-B01 will certainly help you make a decision on the purchase.
If you already are a holder of Delta Electronics PCI-DMC-B01, but have not read the manual yet, you should do it for the reasons described above. You will learn then if you properly used the available features, and whether you have not made any mistakes, which can shorten the lifetime Delta Electronics PCI-DMC-B01.
However, one of the most important roles played by the user manual is to help in solving problems with Delta Electronics PCI-DMC-B01. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Delta Electronics PCI-DMC-B01 along with tips on how to solve them. Even if you fail to solve the problem, the manual will show you a further procedure – contact to the customer service center or the nearest service center
