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PCI-DMC-A01, PCI-DMC-B01
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Chapter 9 Point to Point Motion Control Packet Protocol API
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PCI-DMC-A01 / PCI-DMC-B01
9-6
Revised March, 2012
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Contents
Main
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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Table of Contents
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Chapter 1 Introduction to the API Function Library
1.1 Using the Function Libraries
1.2 Edit New Project
1.2.1 Using VC
1.2.2 Using Borland C
1.2.3 Using VB
1.2.4 Using Delphi
1.2.5 Using VB.Net
1.2.6 Using C#
Chapter 2 Command Return Values and Messages
2.1 Error Codes
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2.2 Error Code Example
Example
Chapter 3 Operating Principles
3.1 Card Initialization
3.1.1 Function List
3.1.2 Sample Application
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NOTE
3.2 Read/Write Driver Parameters
3.2.1 Function List
3.2.2 Sample Application
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3.3 CANopen Protocol
3.3.1 Function List
3.3.2 Sample Application
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3.4 Homing Motion Control
3.4.1 Overview
3.4.2 Function List
3.4.3 Sample Application
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3.5 Torque Motion Control
3.5.1 Function List
3.5.2 Sample Application
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3.6 Velocity Motion Control (1)
3.6.1 Function List
3.6.2 Sample Application
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3.7 Velocity Motion Control (2)
3.7.1 Function List
3.7.2 Sample Application
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3.8 Point to Point Motion Control
3.8.1 Overview
3.8.2 Function List
3.8.3 Sample Application
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3.9 Linear Interpolation Motion Control
3.9.1 Overview
3.9.2 Function List
3.9.3 Sample Application
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3.10 Arc Interpolation Motion Control
3.10.1 Overview
3.10.2 Function List
3.10.3 Sample Application
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3.11 Spiral Interpolation Motion Control -Helix
3.11.1 Function List
3.11.2 Sample Application
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3.12 Continuous Interpolation Motion Control
3.12.1 Overview
3.12.2 Function List
3.12.3 Sample Application
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3.13 Software Limit Control
3.13.1 Function List
3.13.2 Sample Application
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3.14 Synchronization Motion Control
3.14.1 Function List
3.14.2 Sample Application
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3.15 Dwell Command
3.15.1 Function List
3.15.2 Sample Application
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3.16 Change Position
3.16.1 Function List
3.16.2 Sample Application
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3.17 Change Position
3.17.1 Function List
3.17.2 Sample Application
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3.18 Change Velocity
3.18.1 Function List
3.18.2 Sample Application
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3.19 Remote I/O Module-I/O Port
3.19.1 Function List
3.19.2 Sample Application
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3.20 Remote I/O Module- Manual Pulse Generator (1)
3.20.1 Function List
3.20.2 Sample Application
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3.21 Remote I/O Module- Manual Pulse Generator (2)
3.21.1 Function List
3.21.2 Sample Application
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3.22 Remote Pulse Interface Module -Mode 1
3.22.1 Function List
3.22.2 Sample Application
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3.23 Remote Pulse Interface Module -Mode 2
3.23.1 Function List
3.23.2 Sample Application
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3.25 Control Interrupt
3.25.1 Function List
3.25.2 Sample Application
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3.26 MasterCard Security
3.26.1 Function List
3.26.2 Sample Application
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3.27 Remote Analog Input/Output Module
3.27.1 Function List
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3.28 Spiral Interpolation Motion Control -Spiral
3.28.1 Function List
3.28.2 Sample Application
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3.29 Position Compare
3.29.1 Function List
3.29.2 Sample Application
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3.33 Logger
3.33.1 Function List
3.33.2 Sample Application
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Chapter 4 Control API
4.1 Data Type and Range
4.2 Function Description
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Chapter 5 Hardware Initialization API
5.1 _DMC_01_open
5.2 _DMC_01_close
5.3 _DMC_01_get_CardNo_seq
5.4 _DMC_01_pci_initial
5.5 _DMC_01_get_card_version
Chapter 6 Interface API
6.1 _DMC_01_initial_bus
6.2 _DMC_01_start_ring
6.3 _DMC_01_get_device_table
6.4 _DMC_01_get_node_table
6.5 _DMC_01_check_card_running
6.6 _DMC_01_reset_card
6.7 _DMC_01_check_nodeno
6.8 _DMC_01_get_master_connect_status
6.9 _DMC_01_get_mailbox_Error
6.10 _DMC_01_get_mailbox_cnt
6.11 _DMC_01_get_dsp_cnt
6.12 _DMC_01_set_dio_output
6.13 _DMC_01_get_dio_output
6.14 _DMC_01_get_dio_input
6.15 _DMC_01_get_cycle_time
6.16 _DMC_01_initial_bus2
6.17 _DMC_01_motion_cnt
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7.1 _DMC_01_read_servo_parameter
7.2 _DMC_01_write_servo_parameter
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Chapter 8 Using SDO Protocol API
8.1 CANopen SDO protocol
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8.2 _DMC_01_check_canopen_lock
8.3 _DMC_01_get_canopen_ret
8.4 _DMC_01_set_pdo_mode
8.5 _DMC_01_send_message
8.6 _DMC_01_send_message3
8.7 _DMC_01_read_message
8.8 _DMC_01_read_message2
8.9 _DMC_01_get_message
8.10 _DMC_01_reset_sdo_choke
8.11 _DMC_01_get_sdo_retry_history
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9.1 _DMC_01_set_sdo_driver_speed_profile
9.2 _DMC_01_start_sdo_driver_r_move
9.3 _DMC_01_start_sdo_driver_a_move
9.4 _DMC_01_start_sdo_driver_new_position_move
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10.1 _DMC_01_set_home_config
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10.2 _DMC_01_set_home_move
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10.3 _DMC_01_escape_home_move
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11.1 _DMC_01_set_velocity_mode
11.2 _DMC_01_set_velocity
11.3 _DMC_01_set_velocity_stop
11.4 _DMC_01_set_velocity_torque_limit
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12.1 _DMC_01_set_torque_mode
12.2 _DMC_01_set_torque
12.3 _DMC_01_set_torque_stop
12.4 _DMC_01_set_torque_velocity_limit
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Chapter 13 Using PDO Protocol API
13.1 _DMC_01_ipo_set_svon
13.2 _DMC_01_get_buffer_length
13.3 _DMC_01_command_buf_clear
13.4 _DMC_01_buf_dwell
13.5 _DMC_01_set_group
Chapter 14 Stop Motion Control API
14.1 _DMC_01_emg_stop
14.2 _DMC_01_sd_stop
14.3 _DMC_01_sd_abort
14.4 _DMC_01_set_sd_mode
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Chapter 15 Motion Status API
15.1 _DMC_01_motion_done
15.2 _DMC_01_motion_status
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Chapter 16 Motion Counter Value API
16.1 _DMC_01_get_command
16.2 _DMC_01_set_command
16.3 _DMC_01_get_position
16.4 _DMC_01_set_position
16.5 _DMC_01_get_target_pos
16.6 _DMC_01_get_torque
16.7 _DMC_01_get_current_speed
16.8 _DMC_01_get_current_speed_rpm
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Chapter 17 Software Limit API
17.1 _DMC_01_set_soft_limit
17.2 _DMC_01_enable_soft_limit
17.3 _DMC_01_disable_soft_limit
17.4 _DMC_01_get_soft_limit_status
Chapter 18 1-Axis Motion Control API
18.1 _DMC_01_start_tr_move
18.2 _DMC_01_start_sr_move
18.3 _DMC_01_start_ta_move
18.4 _DMC_01_start_sa_move
18.5 _DMC_01_p_change
18.6 _DMC_01_v_change
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18.7 _DMC_01_start_tr_move_2seg
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18.8 _DMC_01_start_sr_move_2seg
18.9 _DMC_01_start_ta_move_2seg
18.10 _DMC_01_start_sa_move_2seg
18.11 _DMC_01_start_tr_move_2seg2
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18.12 _DMC_01_start_sr_move_2seg2
18.13 _DMC_01_start_ta_move_2seg2
18.14 _DMC_01_start_sa_move_2seg2
18.15 _DMC_01_feedrate_overwrite
A
18.16 _DMC_01_start_v3_move
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Chapter 19 2-Axis Linear Interpolation Motion Control API
19.1 _DMC_01_start_tr_move_xy
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19.2 _DMC_01_start_sr_move_xy
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19.3 _DMC_01_start_ta_move_xy
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19.4 _DMC_01_start_sa_move_xy
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19.5 _DMC_01_start_v3_move_xy
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Chapter 20 2-Axis Arc Interpolation Motion Control API
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20.1 _DMC_01_start_tr_arc_xy
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20.2 _DMC_01_start_sr_arc_xy
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20.3 _DMC_01_start_ta_arc_xy
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20.4 _DMC_01_start_sa_arc_xy
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20.5 _DMC_01_start_tr_arc2_xy
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20.6 _DMC_01_start_sr_arc2_xy
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20.7 _DMC_01_start_ta_arc2_xy
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20.8 _DMC_01_start_sa_arc2_xy
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20.9 _DMC_01_start_tr_arc3_xy
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20.10 _DMC_01_start_sr_arc3_xy
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20.11 _DMC_01_start_ta_arc3_xy
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20.12 _DMC_01_start_sa_arc3_xy
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20.13 _DMC_01_start_spiral_xy
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20.14 _DMC_01_start_spiral2_xy
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20.15 _DMC_01_start_v3_arc_xy
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20.16 _DMC_01_start_v3_arc2_xy
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20.17 _DMC_01_start_v3_arc3_xy
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20.18 _DMC_01_start_v3_spiral_xy
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20.19 _DMC_01_start_v3_spiral2_xy
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Chapter 21 3-Axis Linear Interpolation Motion Control API
21.1 _DMC_01_start_tr_move_xyz
21.2 _DMC_01_start_sr_move_xyz
21.3 _DMC_01_start_ta_move_xyz
21.4 _DMC_01_start_sa_move_xyz
21.5 _DMC_01_start_v3_move_xyz
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Chapter 22 3-Axis Spiral Interpolation Motion Control API
22.1 _DMC_01_start_tr_heli_xy
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22.2 _DMC_01_start_sr_heli_xy
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22.3 _DMC_01_start_ta_heli_xy
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22.4 _DMC_01_start_sa_heli_xy
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22.5 _DMC_01_start_v3_heli_xy
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23.1 _DMC_01_tv_move
23.2 _DMC_01_sv_move
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24.1 _DMC_01_sync_move
24.2 _DMC_01_sync_move_config
Chapter 25 Remote Module Control API
25.1 _DMC_01_get_rm_input_value
25.2 _DMC_01_set_rm_input_filter
25.3 _DMC_01_set_rm_input_filter_enable
25.4 _DMC_01_set_rm_output_value
25.5 _DMC_01_set_rm_output_value_error_handle
25.6 _DMC_01_get_rm_output_value
25.7 _DMC_01_get_rm_output_value_error_handle
25.8 _DMC_01_set_rm_output_active
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26.1 _DMC_01_set_rm_mpg_axes_enable
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26.2 _DMC_01_set_rm_mpg_axes_enable2
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26.3 _DMC_01_set_rm_jog_axes_enable
Chapter 27 4-Channel Pulse Interface API
27.1 _DMC_01_set_rm_04pi_ipulse_mode
27.2 _DMC_01_set_rm_04pi_opulse_mode
27.3 _DMC_01_set_rm_04pi_svon_polarity
27.4 _DMC_01_set_rm_04pi_DO2
27.5 _DMC_01_set_rm_04pi_homing_ratio
27.6 _DMC_01_04pi_set_poweron
27.7 _DMC_01_rm_04PI_get_buffer
Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API
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28.1 _DMC_01_rm_04pi_md1_start_move
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28.2 _DMC_01_rm_04pi_md1_v_move
28.3 _DMC_01_rm_04pi_md1_start_line2
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28.4 _DMC_01_rm_04pi_md1_start_line3
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28.5 _DMC_01_rm_04pi_md1_start_line4
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28.6 _DMC_01_rm_04pi_md1_start_arc
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28.7 _DMC_01_rm_04pi_md1_start_arc2
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28.8 _DMC_01_rm_04pi_md1_start_arc3
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28.9 _DMC_01_rm_04pi_md1_start_heli
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28.10 _DMC_01_rm_04pi_md1_p_change
28.11 _DMC_01_rm_04pi_md1_v_change
28.12 _DMC_01_rm_04pi_md1_set_gear
28.13 _DMC_01_rm_04pi_md1_set_soft_limit
28.14 _DMC_01_rm_04pi_md1_get_soft_limit_status
28.15 _DMC_01_rm_04pi_md1_set_sld
28.16 _DMC_01_rm_04pi_md1_get_mc_error_code
28.17 _DMC_01_set_rm_04pi_ref_counter
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Chapter 29 4-Channel Analog Output Remote I/O Module API
29.1 _DMC_01_rm_04da_set_output_value
29.2 _DMC_01_rm_04da_get_output_value
29.3 _DMC_01_rm_04da_get_return_code
29.4 _DMC_01_rm_04da_set_output_range
29.5 _DMC_01_rm_04da_set_output_enable
29.6 _DMC_01_rm_04da_set_output_overrange
29.7 _DMC_01_rm_04da_set_output_error_clear
29.8 _DMC_01_rm_04da_read_data
29.9 _DMC_01_rm_04da_set_output_error_handle
29.10 _DMC_01_rm_04da_set_output_offset_value
29.11 _DMC_01_rm_04da_get_output_offset_value
Chapter 30 4-Channel Analog Input Remote I/O Module API
30.1 _DMC_01_set_04ad_input_range
30.2 _DMC_01_get_04ad_input_range
30.3 _DMC_01_set_04ad_zero_scale
30.4 _DMC_01_get_04ad_zero_scale_status
30.5 _DMC_01_set_04ad_full_scale
30.6 _DMC_01_get_04ad_full_scale_status
30.7 _DMC_01_set_04ad_conversion_time
30.8 _DMC_01_get_04ad_conversion_time
30.9 _DMC_01_get_04ad_data
30.10 _DMC_01_set_04ad_average_mode
30.11 _DMC_01_get_04ad_average_mode
30.12 _DMC_01_set_04ad_input_enable
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31.1 _DMC_01_get_devicetype
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31.2 _DMC_01_get_slave_version
Chapter 32 Parameter Monitoring API
32.1 _DMC_01_set_monitor
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32.2 _DMC_01_get_monitor
32.3 _DMC_01_get_servo_command
32.4 _DMC_01_get_servo_DI
32.5 _DMC_01_get_servo_DO
Chapter 33 Alarm Message API
33.1 _DMC_01_set_ralm
33.2 _DMC_01_get_alm_code
33.3 _DMC_01_master_alm_code
33.4 _DMC_01_slave_error
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34.1 _DMC_01_multi_axes_move
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34.2 _ DMC_01_liner_speed_master
34.3 _DMC_01_start_v3_multi_axes
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35.1 _DMC_01_set_trigger_buf_function
Chapter 36 Interrupt API
36.1 _DMC_01_ set_int_factor
36.2 _DMC_01_ int_enable
36.3 _DMC_01_ int_disable
36.4 _DMC_01_ get_int_count
36.5 _DMC_01_ get_int_status
36.6 _DMC_01_link_ interrupt
Chapter 37 Security API
37.1 _DMC_01_ read_security
37.2 _DMC_01_ read_security_status
37.3 _DMC_01_write_security
37.4 _DMC_01_ write_security_status
37.5 _DMC_01_ check_userpassword
37.6 _DMC_01_write_ userpassword
37.7 _DMC_01_check_verifykey
37.8 _DMC_01_write_verifykey
37.9 _DMC_01_ read_serialno
37.10 misc_slave_check_userpassword
37.11 _misc_slave_write_userpassword
37.12 _misc_slave_get_serialno
37.13 _misc_security
37.14 _misc_slave_write_verifykey
37.15 _misc_slave_check_verifykey
37.16 _misc_slave_user_data_buffer_read
37.17 _misc_slave_user_data_buffer_write
37.18 _misc_slave_user_data_to_flash
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Chapter 38 Limit Reversal API
38.1 _ DMC_01_rm_04pi_set_MEL_polarity
38.2 _ DMC_01_rm_04pi_get_MEL_polarity
38.3 _ DMC_01_rm_04pi_set_PEL_polarity
38.4 _ DMC_01_rm_04pi_get_PEL_polarity
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Chapter 39 Compare API
39.1 _ DMC_01_set_compare_channel_position
39.2 _DMC_01_get_compare_channel_position
39.3 _DMC_01_set_compare_ipulse_mode
39.4 _DMC_01_set_compare_channel_direction
39.5 _DMC_01_set_compare_channel_trigger_time
39.6 _DMC_01_set_compare_channel_one_shot
39.7 _DMC_01_set_compare_channel_source
39.8 _DMC_01_channel0_position_cmp
39.9 _DMC_01_channel1_output_enable
39.10 _DMC_01_channel1_output_mode
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39.11 _DMC_01_channel1_get_io_status
39.12 _DMC_01_channel1_set_gpio_out
39.13 _DMC_01_channel1_position_compare_table
39.14 _DMC_01_channel1_position_compare_table_level
39.15 _DMC_01_channel1_position_compare_table_cnt
39.16 _DMC_01_set_compare_channel_polarity
39.17 _DMC_01_channel0_position_cmp_by_gpio
39.18 _DMC_01_channel1_position_re_compare_table
39.19 _DMC_01_channel1_position_re_compare_table_level
Chapter 40 Linear and Arc Interpolation Motion Control API
40.1 _DMC_01_start_rline_xy
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40.2 _DMC_01_start_rline_xyz
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40.3 _DMC_01_start_v3_rline_xy
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40.4 _DMC_01_start_v3_rline_xyz
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41.1 _DMC_01_speed_continue
41.2 _DMC_01_speed_continue_mode
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41.3 _DMC_01_speed_continue_combine_ratio
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Chapter 42 Other API
42.1 _misc_app_get_circle_endpoint
42.2 _misc_app_get_circle_center_point
42.3 _misc_set_record_debuging
42.4 _misc_open_record_debuging_file
42.5 _DMC_01_enable_dda_mode
42.6 _DMC_01_set_dda_data
42.7 _DMC_01_get_dda_cnt