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Delta Electronics PCI-DMC-A01, PCI-DMC-B01 - page 226

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Chapter 12 Torque Motion Control Packet Protocol API | PCI-DMC-A01 / PCI-DMC-B01

12-6 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 Page Page Table of Contents Page Page Page Page Page Page Page Page Page Page Page Page 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 Page Page 2.2 Error Code Example Example Chapter 3 Operating Principles 3.1 Card Initialization 3.1.1 Function List 3.1.2 Sample Application Page NOTE 3.2 Read/Write Driver Parameters 3.2.1 Function List 3.2.2 Sample Application Page Page 3.3 CANopen Protocol 3.3.1 Function List 3.3.2 Sample Application Page 3.4 Homing Motion Control 3.4.1 Overview 3.4.2 Function List 3.4.3 Sample Application Page Page 3.5 Torque Motion Control 3.5.1 Function List 3.5.2 Sample Application Page Page 3.6 Velocity Motion Control (1) 3.6.1 Function List 3.6.2 Sample Application Page Page 3.7 Velocity Motion Control (2) 3.7.1 Function List 3.7.2 Sample Application Page 3.8 Point to Point Motion Control 3.8.1 Overview 3.8.2 Function List 3.8.3 Sample Application Page Page Page 3.9 Linear Interpolation Motion Control 3.9.1 Overview 3.9.2 Function List 3.9.3 Sample Application Page Page Page 3.10 Arc Interpolation Motion Control 3.10.1 Overview 3.10.2 Function List 3.10.3 Sample Application Page Page Page 3.11 Spiral Interpolation Motion Control -Helix 3.11.1 Function List 3.11.2 Sample Application Page Page Page Page 3.12 Continuous Interpolation Motion Control 3.12.1 Overview 3.12.2 Function List 3.12.3 Sample Application Page Page Page 3.13 Software Limit Control 3.13.1 Function List 3.13.2 Sample Application Page Page Page 3.14 Synchronization Motion Control 3.14.1 Function List 3.14.2 Sample Application Page Page Page 3.15 Dwell Command 3.15.1 Function List 3.15.2 Sample Application Page 3.16 Change Position 3.16.1 Function List 3.16.2 Sample Application Page Page 3.17 Change Position 3.17.1 Function List 3.17.2 Sample Application Page Page 3.18 Change Velocity 3.18.1 Function List 3.18.2 Sample Application Page Page Page 3.19 Remote I/O Module-I/O Port 3.19.1 Function List 3.19.2 Sample Application Page Page 3.20 Remote I/O Module- Manual Pulse Generator (1) 3.20.1 Function List 3.20.2 Sample Application Page Page 3.21 Remote I/O Module- Manual Pulse Generator (2) 3.21.1 Function List 3.21.2 Sample Application Page Page 3.22 Remote Pulse Interface Module -Mode 1 3.22.1 Function List 3.22.2 Sample Application Page Page Page Page Page 3.23 Remote Pulse Interface Module -Mode 2 3.23.1 Function List 3.23.2 Sample Application Page Page Page Page Page 3.25 Control Interrupt 3.25.1 Function List 3.25.2 Sample Application Page Page Page 3.26 MasterCard Security 3.26.1 Function List 3.26.2 Sample Application Page Page Page Page 3.27 Remote Analog Input/Output Module 3.27.1 Function List Page Page Page Page Page 3.28 Spiral Interpolation Motion Control -Spiral 3.28.1 Function List 3.28.2 Sample Application Page Page Page Page 3.29 Position Compare 3.29.1 Function List 3.29.2 Sample Application Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page 3.33 Logger 3.33.1 Function List 3.33.2 Sample Application Page Page Chapter 4 Control API 4.1 Data Type and Range 4.2 Function Description Page Page Page Page Page Page Page Page Page Page Page Page 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 Page 7.1 _DMC_01_read_servo_parameter 7.2 _DMC_01_write_servo_parameter Page Chapter 8 Using SDO Protocol API 8.1 CANopen SDO protocol Page Page Page 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 Page 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 Page Page 10.1 _DMC_01_set_home_config Page Page Page Page 10.2 _DMC_01_set_home_move NOTE 10.3 _DMC_01_escape_home_move Page 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 Page Page 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 Page 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 B Page Chapter 15 Motion Status API 15.1 _DMC_01_motion_done 15.2 _DMC_01_motion_status Page 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 Page 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 Page 18.7 _DMC_01_start_tr_move_2seg Page 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 Page 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 Page Chapter 19 2-Axis Linear Interpolation Motion Control API 19.1 _DMC_01_start_tr_move_xy Page 19.2 _DMC_01_start_sr_move_xy Page 19.3 _DMC_01_start_ta_move_xy Page 19.4 _DMC_01_start_sa_move_xy Page 19.5 _DMC_01_start_v3_move_xy Page Page Chapter 20 2-Axis Arc Interpolation Motion Control API Page 20.1 _DMC_01_start_tr_arc_xy Page 20.2 _DMC_01_start_sr_arc_xy Page 20.3 _DMC_01_start_ta_arc_xy Page 20.4 _DMC_01_start_sa_arc_xy Page 20.5 _DMC_01_start_tr_arc2_xy Page 20.6 _DMC_01_start_sr_arc2_xy Page 20.7 _DMC_01_start_ta_arc2_xy Page 20.8 _DMC_01_start_sa_arc2_xy Page 20.9 _DMC_01_start_tr_arc3_xy Page 20.10 _DMC_01_start_sr_arc3_xy Page 20.11 _DMC_01_start_ta_arc3_xy Page 20.12 _DMC_01_start_sa_arc3_xy Page 20.13 _DMC_01_start_spiral_xy Page 20.14 _DMC_01_start_spiral2_xy Page 20.15 _DMC_01_start_v3_arc_xy Page 20.16 _DMC_01_start_v3_arc2_xy Page 20.17 _DMC_01_start_v3_arc3_xy Page 20.18 _DMC_01_start_v3_spiral_xy Page 20.19 _DMC_01_start_v3_spiral2_xy Page 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 Page Page Chapter 22 3-Axis Spiral Interpolation Motion Control API 22.1 _DMC_01_start_tr_heli_xy Page 22.2 _DMC_01_start_sr_heli_xy Page 22.3 _DMC_01_start_ta_heli_xy Page 22.4 _DMC_01_start_sa_heli_xy Page 22.5 _DMC_01_start_v3_heli_xy Page Page Page 23.1 _DMC_01_tv_move 23.2 _DMC_01_sv_move Page Page 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 Page Page 26.1 _DMC_01_set_rm_mpg_axes_enable Page 26.2 _DMC_01_set_rm_mpg_axes_enable2 Page 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 Page 28.1 _DMC_01_rm_04pi_md1_start_move Page 28.2 _DMC_01_rm_04pi_md1_v_move 28.3 _DMC_01_rm_04pi_md1_start_line2 Page 28.4 _DMC_01_rm_04pi_md1_start_line3 Page 28.5 _DMC_01_rm_04pi_md1_start_line4 Page 28.6 _DMC_01_rm_04pi_md1_start_arc Page 28.7 _DMC_01_rm_04pi_md1_start_arc2 Page 28.8 _DMC_01_rm_04pi_md1_start_arc3 Page 28.9 _DMC_01_rm_04pi_md1_start_heli Page 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 Page 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 Page Page 31.1 _DMC_01_get_devicetype Page 31.2 _DMC_01_get_slave_version Chapter 32 Parameter Monitoring API 32.1 _DMC_01_set_monitor Page Page 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 Page Page 34.1 _DMC_01_multi_axes_move Page 34.2 _ DMC_01_liner_speed_master 34.3 _DMC_01_start_v3_multi_axes Page Page 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 Page 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 Page 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 Page 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 Page 40.2 _DMC_01_start_rline_xyz Page 40.3 _DMC_01_start_v3_rline_xy Page Page 40.4 _DMC_01_start_v3_rline_xyz Page Page 41.1 _DMC_01_speed_continue 41.2 _DMC_01_speed_continue_mode Page 41.3 _DMC_01_speed_continue_combine_ratio Page 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