Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manuals

Table of Contents

• Chapter 1 Introduction to the API Function Library

  1
• Using the Function Libraries

  1
• Edit New Project

  1
• Using VC

  1
• Using Borland C

  1
• Using VB

  1
• Using Delphi

  1
• Using VB.Net

  1
• Using C#

  1
• Chapter 2 Command Return Values and Messages

  2
• Error Codes

  2
• Error Code Example

  2
• Chapter 3 Operating Principles

  3
• Card Initialization

  3
• Function List

  3
• Sample Application

  3
• Read/Write Driver Parameters

  3
• Function List

  3
• Sample Application

  3
• CANopen Protocol

  3
• Function List

  3
• Sample Application

  3
• Homing Motion Control

  3
• Overview

  3
• Function List

  3
• Sample Application

  3
• Torque Motion Control

  3
• Function List

  3
• Sample Application

  3
• Velocity Motion Control (1)

  3
• Function List

  3
• Sample Application

  3
• Velocity Motion Control (2)

  3
• Function List

  3
• Sample Application

  3
• Point to Point Motion Control

  3
• Overview

  3
• Function List

  3
• Sample Application

  3
• Linear Interpolation Motion Control

  3
• Overview

  3
• Function List

  3
• Sample Application

  3
• Arc Interpolation Motion Control

  3
• 3.10.1 Overview

  3
• 3.10.2 Function List

  3
• 3.10.3 Sample Application

  3
• Spiral Interpolation Motion Control -Helix

  3
• 3.11.1 Function List

  3
• 3.11.2 Sample Application

  3
• Continuous Interpolation Motion Control

  3
• 3.12.1 Overview

  3
• 3.12.2 Function List

  3
• 3.12.3 Sample Application

  3
• Software Limit Control

  3
• 3.13.1 Function List

  3
• 3.13.2 Sample Application

  3
• Synchronization Motion Control

  3
• 3.14.1 Function List

  3
• 3.14.2 Sample Application

  3
• Dwell Command

  3
• 3.15.1 Function List

  3
• 3.15.2 Sample Application

  3
• Change Position

  3
• 3.16.1 Function List

  3
• 3.16.2 Sample Application

  3
• Change Position

  3
• 3.17.1 Function List

  3
• 3.17.2 Sample Application

  3
• Change Velocity

  3
• 3.18.1 Function List

  3
• 3.18.2 Sample Application

  3
• Remote I/O Module-I/O Port

  3
• 3.19.1 Function List

  3
• 3.19.2 Sample Application

  3
• Remote I/O Module- Manual Pulse Generator (1)

  3
• 3.20.1 Function List

  3
• 3.20.2 Sample Application

  3
• Remote I/O Module- Manual Pulse Generator (2)

  3
• 3.21.1 Function List

  3
• 3.21.2 Sample Application

  3
• Remote Pulse Interface Module -Mode 1

  3
• 3.22.1 Function List

  3
• 3.22.2 Sample Application

  3
• Remote Pulse Interface Module -Mode 2

  3
• 3.23.1 Function List

  3
• 3.23.2 Sample Application

  3
• Get (Calculate) Arc Information

  3
• 3.24.1 Function List

  3
• 3.24.2 Sample Application

  3
• Control Interrupt

  3
• 3.25.1 Function List

  3
• 3.25.2 Sample Application

  3
• MasterCard Security

  3
• 3.26.1 Function List

  3
• 3.26.2 Sample Application

  3
• Remote Analog Input/Output Module

  3
• 3.27.1 Function List

  3
• 3.27.2 Sample Application

  3
• Spiral Interpolation Motion Control -Spiral

  3
• 3.28.1 Function List

  3
• 3.28.2 Sample Application

  3
• Position Compare

  3
• 3.29.1 Function List

  3
• 3.29.2 Sample Application

  3
• Axis Group

  3
• 3.30.1 Function List

  3
• 3.30.2 Sample Application

  3
• Speed Continue

  3
• 3.31.1 Function List

  3
• 3.31.2 Sample Application

  3
• Spiral Interpolation - Helix Using -Sp1_ Normal Follow

  3
• 3.32.1 Function List

  3
• 3.32.2 Sample Application

  3
• Logger

  3
• 3.33.1 Function List

  3
• 3.33.2 Sample Application

  3
• Chapter 4 Control API

  4
• Data Type and Range

  4
• Function Description

  4
• Chapter 5 Hardware Initialization API

  5
• _DMC_01_open

  5
• _DMC_01_close

  5
• _DMC_01_get_CardNo_seq

  5
• _DMC_01_pci_initial

  5
• _DMC_01_get_card_version

  5
• Chapter 6 Interface API

  6
• _DMC_01_initial_bus

  6
• _DMC_01_start_ring

  6
• _DMC_01_get_device_table

  6
• _DMC_01_get_node_table

  6
• _DMC_01_check_card_running

  6
• _DMC_01_reset_card

  6
• _DMC_01_check_nodeno

  6
• _DMC_01_get_master_connect_status

  6
• _DMC_01_get_mailbox_Error

  6
• _DMC_01_get_mailbox_cnt

  6
• _DMC_01_get_dsp_cnt

  6
• _DMC_01_set_dio_output

  6
• _DMC_01_get_dio_output

  6
• _DMC_01_get_dio_input

  6
• _DMC_01_get_cycle_time

  6
• _DMC_01_initial_bus2

  6
• _DMC_01_motion_cnt

  6
• Chapter 7 Servo Drive Parameter Read/Write API

  7
• _DMC_01_read_servo_parameter

  7
• _DMC_01_write_servo_parameter

  7
• Chapter 8 Using SDO Protocol API

  8
• CANopen SDO protocol

  8
• _DMC_01_check_canopen_lock

  8
• _DMC_01_get_canopen_ret

  8
• _DMC_01_set_pdo_mode

  8
• _DMC_01_send_message

  8
• _DMC_01_send_message3

  8
• _DMC_01_read_message

  8
• _DMC_01_read_message2

  8
• _DMC_01_get_message

  8
• _DMC_01_reset_sdo_choke

  8
• _DMC_01_get_sdo_retry_history

  8
• Chapter 9 Point to Point Motion Control Packet Protocol API

  9
• _DMC_01_set_sdo_driver_speed_profile

  9
• _DMC_01_start_sdo_driver_r_move

  9
• _DMC_01_start_sdo_driver_a_move

  9
• _DMC_01_start_sdo_driver_new_position_move

  9
• Chapter 10 Homing Motion Control Packet Protocol API

  10
• _DMC_01_set_home_config

  10
• _DMC_01_set_home_move

  10
• _DMC_01_escape_home_move

  10
• Chapter 11 Velocity Motion Control Packet Protocol API

  11
• _DMC_01_set_velocity_mode

  11
• _DMC_01_set_velocity

  11
• _DMC_01_set_velocity_stop

  11
• _DMC_01_set_velocity_torque_limit

  11
• Chapter 12 Torque Motion Control Packet Protocol API

  12
• _DMC_01_set_torque_mode

  12
• _DMC_01_set_torque

  12
• _DMC_01_set_torque_stop

  12
• _DMC_01_set_torque_velocity_limit

  12
• Chapter 13 Using PDO Protocol API

  13
• _DMC_01_ipo_set_svon

  13
• _DMC_01_get_buffer_length

  13
• _DMC_01_command_buf_clear

  13
• _DMC_01_buf_dwell

  13
• _DMC_01_set_group

  13
• Chapter 14 Stop Motion Control API

  14
• _DMC_01_emg_stop

  14
• _DMC_01_sd_stop

  14
• _DMC_01_sd_abort

  14
• _DMC_01_set_sd_mode

  14
• Chapter 15 Motion Status API

  15
• _DMC_01_motion_done

  15
• _DMC_01_motion_status

  15
• Chapter 16 Motion Counter Value API

  16
• _DMC_01_get_command

  16
• _DMC_01_set_command

  16
• _DMC_01_get_position

  16
• _DMC_01_set_position

  16
• _DMC_01_get_target_pos

  16
• _DMC_01_get_torque

  16
• _DMC_01_get_current_speed

  16
• _DMC_01_get_current_speed_rpm

  16
• Chapter 17 Software Limit API

  17
• _DMC_01_set_soft_limit

  17
• _DMC_01_enable_soft_limit

  17
• _DMC_01_disable_soft_limit

  17
• _DMC_01_get_soft_limit_status

  17
• Chapter 18 1-Axis Motion Control API

  18
• _DMC_01_start_tr_move

  18
• _DMC_01_start_sr_move

  18
• _DMC_01_start_ta_move

  18
• _DMC_01_start_sa_move

  18
• _DMC_01_p_change

  18
• _DMC_01_v_change

  18
• _DMC_01_start_tr_move_2seg

  18
• _DMC_01_start_sr_move_2seg

  18
• _DMC_01_start_ta_move_2seg

  18
• 18.10 _DMC_01_start_sa_move_2seg

  18
• 18.11 _DMC_01_start_tr_move_2seg2

  18
• 18.12 _DMC_01_start_sr_move_2seg2

  18
• 18.13 _DMC_01_start_ta_move_2seg2

  18
• 18.14 _DMC_01_start_sa_move_2seg2

  18
• 18.15 _DMC_01_feedrate_overwrite

  18
• 18.16 _DMC_01_start_v3_move

  18
• Chapter 19 2-Axis Linear Interpolation Motion Control API

  19
• _DMC_01_start_tr_move_xy

  19
• _DMC_01_start_sr_move_xy

  19
• _DMC_01_start_ta_move_xy

  19
• _DMC_01_start_sa_move_xy

  19
• _DMC_01_start_v3_move_xy

  19
• Chapter 20 2-Axis Arc Interpolation Motion Control API

  20
• _DMC_01_start_tr_arc_xy

  20
• _DMC_01_start_sr_arc_xy

  20
• _DMC_01_start_ta_arc_xy

  20
• _DMC_01_start_sa_arc_xy

  20
• _DMC_01_start_tr_arc2_xy

  20
• _DMC_01_start_sr_arc2_xy

  20
• _DMC_01_start_ta_arc2_xy

  20
• _DMC_01_start_sa_arc2_xy

  20
• _DMC_01_start_tr_arc3_xy

  20
• 20.11 _DMC_01_start_ta_arc3_xy

  20
• 20.12 _DMC_01_start_sa_arc3_xy

  20
• 20.13 _DMC_01_start_spiral_xy

  20
• 20.14 _DMC_01_start_spiral2_xy

  20
• 20.15 _DMC_01_start_v3_arc_xy

  20
• 20.16 _DMC_01_start_v3_arc2_xy

  20
• 20.17 _DMC_01_start_v3_arc3_xy

  20
• 20.18 _DMC_01_start_v3_spiral_xy

  20
• 20.19 _DMC_01_start_v3_spiral2_xy

  20
• Chapter 21 3-Axis Linear Interpolation Motion Control API

  21
• _DMC_01_start_tr_move_xyz

  21
• _DMC_01_start_sr_move_xyz

  21
• _DMC_01_start_ta_move_xyz

  21
• _DMC_01_start_sa_move_xyz

  21
• _DMC_01_start_v3_move_xyz

  21
• Chapter 22 3-Axis Spiral Interpolation Motion Control API

  22
• _DMC_01_start_tr_heli_xy

  22
• _DMC_01_start_sr_heli_xy

  22
• _DMC_01_start_ta_heli_xy

  22
• _DMC_01_start_sa_heli_xy

  22
• _DMC_01_start_v3_heli_xy

  22
• Chapter 23 Velocity Motion Control API

  23
• _DMC_01_tv_move

  23
• _DMC_01_sv_move

  23
• Chapter 24 Synchronization Motion Control API

  24
• _DMC_01_sync_move

  24
• _DMC_01_sync_move_config

  24
• Chapter 25 Remote Module Control API

  25
• _DMC_01_get_rm_input_value

  25
• _DMC_01_set_rm_input_filter

  25
• _DMC_01_set_rm_input_filter_enable

  25
• _DMC_01_set_rm_output_value

  25
• _DMC_01_set_rm_output_value_error_handle

  25
• _DMC_01_get_rm_output_value

  25
• _DMC_01_get_rm_output_value_error_handle

  25
• _DMC_01_set_rm_output_active

  25
• Chapter 26 MPG and JOG Operation API

  26
• _DMC_01_set_rm_mpg_axes_enable

  26
• _DMC_01_set_rm_mpg_axes_enable2

  26
• _DMC_01_set_rm_jog_axes_enable

  26
• Chapter 27 4-Channel Pulse Interface API

  27
• _DMC_01_set_rm_04pi_ipulse_mode

  27
• _DMC_01_set_rm_04pi_opulse_mode

  27
• _DMC_01_set_rm_04pi_svon_polarity

  27
• _DMC_01_set_rm_04pi_DO2

  27
• _DMC_01_set_rm_04pi_homing_ratio

  27
• _DMC_01_04pi_set_poweron

  27
• _DMC_01_rm_04PI_get_buffer

  27
• Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API

  28
• _DMC_01_rm_04pi_md1_start_move

  28
• _DMC_01_rm_04pi_md1_v_move

  28
• _DMC_01_rm_04pi_md1_start_line2

  28
• _DMC_01_rm_04pi_md1_start_line3

  28
• _DMC_01_rm_04pi_md1_start_line4

  28
• _DMC_01_rm_04pi_md1_start_arc

  28
• _DMC_01_rm_04pi_md1_start_arc2

  28
• _DMC_01_rm_04pi_md1_start_arc3

  28
• _DMC_01_rm_04pi_md1_start_heli

  28
• 28.10 _DMC_01_rm_04pi_md1_p_change

  28
• 28.11 _DMC_01_rm_04pi_md1_v_change

  28
• 28.12 _DMC_01_rm_04pi_md1_set_gear

  28
• 28.13 _DMC_01_rm_04pi_md1_set_soft_limit

  28
• 28.14 _DMC_01_rm_04pi_md1_get_soft_limit_status

  28
• 28.15 _DMC_01_rm_04pi_md1_set_sld

  28
• 28.16 _DMC_01_rm_04pi_md1_get_mc_error_code

  28
• 28.17 _DMC_01_set_rm_04pi_ref_counter

  28
• Chapter 29 4-Channel Analog Output Remote Module API

  29
• _DMC_01_rm_04da_set_output_value

  29
• _DMC_01_rm_04da_get_output_value

  29
• _DMC_01_rm_04da_get_return_code

  29
• _DMC_01_rm_04da_set_output_range

  29
• _DMC_01_rm_04da_set_output_enable

  29
• _DMC_01_rm_04da_set_output_overrange

  29
• _DMC_01_rm_04da_set_output_error_clear

  29
• _DMC_01_rm_04da_read_data

  29
• _DMC_01_rm_04da_set_output_error_handle

  29
• 29.10 _DMC_01_rm_04da_set_output_offset_value

  29
• 29.11 _DMC_01_rm_04da_get_output_offset_value

  29
• Chapter 30 4-Channel Analog Input Remote Module API

  30
• _DMC_01_set_04ad_input_range

  30
• _DMC_01_get_04ad_input_range

  30
• _DMC_01_set_04ad_zero_scale

  30
• _DMC_01_get_04ad_zero_scale_status

  30
• _DMC_01_set_04ad_full_scale

  30
• _DMC_01_get_04ad_full_scale_status

  30
• _DMC_01_set_04ad_conversion_time

  30
• _DMC_01_get_04ad_conversion_time

  30
• _DMC_01_get_04ad_data

  30
• 30.10 _DMC_01_set_04ad_average_mode

  30
• 30.11 _DMC_01_get_04ad_average_mode

  30
• 30.12 _DMC_01_set_04ad_input_enable

  30
• Chapter 31 Slave Data API

  31
• _DMC_01_get_devicetype

  31
• _DMC_01_get_slave_version

  31
• Chapter 32 Parameter Monitoring API

  32
• _DMC_01_set_monitor

  32
• _DMC_01_get_monitor

  32
• _DMC_01_get_servo_command

  32
• _DMC_01_get_servo_DI

  32
• _DMC_01_get_servo_DO

  32
• Chapter 33 Alarm Message API

  33
• _DMC_01_set_ralm

  33
• _DMC_01_get_alm_code

  33
• _DMC_01_master_alm_code

  33
• _DMC_01_slave_error

  33
• Chapter 34 Multi-Axis Motion Control API

  34
• _DMC_01_multi_axes_move

  34
• _ DMC_01_liner_speed_master

  34
• _DMC_01_start_v3_multi_axes

  34
• Chapter 35 Buffer Operation API

  35
• _DMC_01_set_trigger_buf_function

  35
• Chapter 36 Interrupt API

  36
• _DMC_01_ set_int_factor

  36
• _DMC_01_ int_enable

  36
• _DMC_01_ int_disable

  36
• _DMC_01_ get_int_count

  36
• _DMC_01_ get_int_status

  36
• _DMC_01_link_ interrupt

  36
• Chapter 37 Security API

  37
• _DMC_01_ read_security

  37
• _DMC_01_ read_security_status

  37
• _DMC_01_write_security

  37
• _DMC_01_ write_security_status

  37
• _DMC_01_ check_userpassword

  37
• _DMC_01_write_ userpassword

  37
• _DMC_01_check_verifykey

  37
• _DMC_01_write_verifykey

  37
• _DMC_01_ read_serialno

  37
• 37.10 misc_slave_check_userpassword

  37
• 37.11 _misc_slave_write_userpassword

  37
• 37.12 _misc_slave_get_serialno

  37
• 37.13 _misc_security

  37
• 37.14 _misc_slave_write_verifykey

  37
• 37.15 _misc_slave_check_verifykey

  37
• 37.16 _misc_slave_user_data_buffer_read

  37
• 37.17 _misc_slave_user_data_buffer_write

  37
• 37.18 _misc_slave_user_data_to_flash

  37
• Chapter 38 Limit Reversal API

  38
• _ DMC_01_rm_04pi_set_MEL_polarity

  38
• _ DMC_01_rm_04pi_get_MEL_polarity

  38
• _ DMC_01_rm_04pi_set_PEL_polarity

  38
• _ DMC_01_rm_04pi_get_PEL_polarity

  38
• Chapter 39 Compare API

  39
• _ DMC_01_set_compare_channel_position

  39
• _DMC_01_get_compare_channel_position

  39
• _DMC_01_set_compare_ipulse_mode

  39
• _DMC_01_set_compare_channel_direction

  39
• _DMC_01_set_compare_channel_trigger_time

  39
• _DMC_01_set_compare_channel_one_shot

  39
• _DMC_01_set_compare_channel_source

  39
• _DMC_01_channel0_position_cmp

  39
• _DMC_01_channel1_output_enable

  39
• 39.10 _DMC_01_channel1_output_mode

  39
• 39.11 _DMC_01_channel1_get_io_status

  39
• 39.12 _DMC_01_channel1_set_gpio_out

  39
• 39.13 _DMC_01_channel1_position_compare_table

  39
• 39.14 _DMC_01_channel1_position_compare_table_level

  39
• 39.15 _DMC_01_channel1_position_compare_table_cnt

  39
• 39.16 _DMC_01_set_compare_channel_polarity

  39
• 39.17 _DMC_01_channel0_position_cmp_by_gpio

  39
• 39.18 _DMC_01_channel1_position_re_compare_table

  39
• 39.19 _DMC_01_channel1_position_re_compare_table_level

  39
• Chapter 40 Linear and Arc Interpolation Motion Control API

  40
• _DMC_01_start_rline_xy

  40
• _DMC_01_start_rline_xyz

  40
• _DMC_01_start_v3_rline_xyz

  40
• Chapter 41 Speed Continue API

  41
• _DMC_01_speed_continue

  41
• _DMC_01_speed_continue_mode

  41
• _DMC_01_speed_continue_combine_ratio

  41
• Chapter 42 Other API

  42
• _misc_app_get_circle_endpoint

  42
• _misc_app_get_circle_center_point

  42
• _misc_set_record_debuging

  42
• _misc_open_record_debuging_file

  42
• _DMC_01_enable_dda_mode

  42
• _DMC_01_set_dda_data

  42
• _DMC_01_get_dda_cnt

  42