User ManualTable of ContentsChapter 1 Introduction to the API Function Library1Using the Function Libraries1Edit New Project1Using VC1Using Borland C1Using VB1Using Delphi1Using VB.Net1Using C#1Chapter 2 Command Return Values and Messages2Error Codes2Error Code Example2Chapter 3 Operating Principles3Card Initialization3Function List3Sample Application3Read/Write Driver Parameters3Function List3Sample Application3CANopen Protocol3Function List3Sample Application3Homing Motion Control3Overview3Function List3Sample Application3Torque Motion Control3Function List3Sample Application3Velocity Motion Control (1)3Function List3Sample Application3Velocity Motion Control (2)3Function List3Sample Application3Point to Point Motion Control3Overview3Function List3Sample Application3Linear Interpolation Motion Control3Overview3Function List3Sample Application3Arc Interpolation Motion Control33.10.1 Overview33.10.2 Function List33.10.3 Sample Application3Spiral Interpolation Motion Control -Helix33.11.1 Function List33.11.2 Sample Application3Continuous Interpolation Motion Control33.12.1 Overview33.12.2 Function List33.12.3 Sample Application3Software Limit Control33.13.1 Function List33.13.2 Sample Application3Synchronization Motion Control33.14.1 Function List33.14.2 Sample Application3Dwell Command33.15.1 Function List33.15.2 Sample Application3Change Position33.16.1 Function List33.16.2 Sample Application3Change Position33.17.1 Function List33.17.2 Sample Application3Change Velocity33.18.1 Function List33.18.2 Sample Application3Remote I/O Module-I/O Port33.19.1 Function List33.19.2 Sample Application3Remote I/O Module- Manual Pulse Generator (1)33.20.1 Function List33.20.2 Sample Application3Remote I/O Module- Manual Pulse Generator (2)33.21.1 Function List33.21.2 Sample Application3Remote Pulse Interface Module -Mode 133.22.1 Function List33.22.2 Sample Application3Remote Pulse Interface Module -Mode 233.23.1 Function List33.23.2 Sample Application3Get (Calculate) Arc Information33.24.1 Function List33.24.2 Sample Application3Control Interrupt33.25.1 Function List33.25.2 Sample Application3MasterCard Security33.26.1 Function List33.26.2 Sample Application3Remote Analog Input/Output Module33.27.1 Function List33.27.2 Sample Application3Spiral Interpolation Motion Control -Spiral33.28.1 Function List33.28.2 Sample Application3Position Compare33.29.1 Function List33.29.2 Sample Application3Axis Group33.30.1 Function List33.30.2 Sample Application3Speed Continue33.31.1 Function List33.31.2 Sample Application3Spiral Interpolation - Helix Using -Sp1_ Normal Follow33.32.1 Function List33.32.2 Sample Application3Logger33.33.1 Function List33.33.2 Sample Application3Chapter 4 Control API4Data Type and Range4Function Description4Chapter 5 Hardware Initialization API5_DMC_01_open5_DMC_01_close5_DMC_01_get_CardNo_seq5_DMC_01_pci_initial5_DMC_01_get_card_version5Chapter 6 Interface API6_DMC_01_initial_bus6_DMC_01_start_ring6_DMC_01_get_device_table6_DMC_01_get_node_table6_DMC_01_check_card_running6_DMC_01_reset_card6_DMC_01_check_nodeno6_DMC_01_get_master_connect_status6_DMC_01_get_mailbox_Error6_DMC_01_get_mailbox_cnt6_DMC_01_get_dsp_cnt6_DMC_01_set_dio_output6_DMC_01_get_dio_output6_DMC_01_get_dio_input6_DMC_01_get_cycle_time6_DMC_01_initial_bus26_DMC_01_motion_cnt6Chapter 7 Servo Drive Parameter Read/Write API7_DMC_01_read_servo_parameter7_DMC_01_write_servo_parameter7Chapter 8 Using SDO Protocol API8CANopen SDO protocol8_DMC_01_check_canopen_lock8_DMC_01_get_canopen_ret8_DMC_01_set_pdo_mode8_DMC_01_send_message8_DMC_01_send_message38_DMC_01_read_message8_DMC_01_read_message28_DMC_01_get_message8_DMC_01_reset_sdo_choke8_DMC_01_get_sdo_retry_history8Chapter 9 Point to Point Motion Control Packet Protocol API9_DMC_01_set_sdo_driver_speed_profile9_DMC_01_start_sdo_driver_r_move9_DMC_01_start_sdo_driver_a_move9_DMC_01_start_sdo_driver_new_position_move9Chapter 10 Homing Motion Control Packet Protocol API10_DMC_01_set_home_config10_DMC_01_set_home_move10_DMC_01_escape_home_move10Chapter 11 Velocity Motion Control Packet Protocol API11_DMC_01_set_velocity_mode11_DMC_01_set_velocity11_DMC_01_set_velocity_stop11_DMC_01_set_velocity_torque_limit11Chapter 12 Torque Motion Control Packet Protocol API12_DMC_01_set_torque_mode12_DMC_01_set_torque12_DMC_01_set_torque_stop12_DMC_01_set_torque_velocity_limit12Chapter 13 Using PDO Protocol API13_DMC_01_ipo_set_svon13_DMC_01_get_buffer_length13_DMC_01_command_buf_clear13_DMC_01_buf_dwell13_DMC_01_set_group13Chapter 14 Stop Motion Control API14_DMC_01_emg_stop14_DMC_01_sd_stop14_DMC_01_sd_abort14_DMC_01_set_sd_mode14Chapter 15 Motion Status API15_DMC_01_motion_done15_DMC_01_motion_status15Chapter 16 Motion Counter Value API16_DMC_01_get_command16_DMC_01_set_command16_DMC_01_get_position16_DMC_01_set_position16_DMC_01_get_target_pos16_DMC_01_get_torque16_DMC_01_get_current_speed16_DMC_01_get_current_speed_rpm16Chapter 17 Software Limit API17_DMC_01_set_soft_limit17_DMC_01_enable_soft_limit17_DMC_01_disable_soft_limit17_DMC_01_get_soft_limit_status17Chapter 18 1-Axis Motion Control API18_DMC_01_start_tr_move18_DMC_01_start_sr_move18_DMC_01_start_ta_move18_DMC_01_start_sa_move18_DMC_01_p_change18_DMC_01_v_change18_DMC_01_start_tr_move_2seg18_DMC_01_start_sr_move_2seg18_DMC_01_start_ta_move_2seg1818.10 _DMC_01_start_sa_move_2seg1818.11 _DMC_01_start_tr_move_2seg21818.12 _DMC_01_start_sr_move_2seg21818.13 _DMC_01_start_ta_move_2seg21818.14 _DMC_01_start_sa_move_2seg21818.15 _DMC_01_feedrate_overwrite1818.16 _DMC_01_start_v3_move18Chapter 19 2-Axis Linear Interpolation Motion Control API19_DMC_01_start_tr_move_xy19_DMC_01_start_sr_move_xy19_DMC_01_start_ta_move_xy19_DMC_01_start_sa_move_xy19_DMC_01_start_v3_move_xy19Chapter 20 2-Axis Arc Interpolation Motion Control API20_DMC_01_start_tr_arc_xy20_DMC_01_start_sr_arc_xy20_DMC_01_start_ta_arc_xy20_DMC_01_start_sa_arc_xy20_DMC_01_start_tr_arc2_xy20_DMC_01_start_sr_arc2_xy20_DMC_01_start_ta_arc2_xy20_DMC_01_start_sa_arc2_xy20_DMC_01_start_tr_arc3_xy2020.11 _DMC_01_start_ta_arc3_xy2020.12 _DMC_01_start_sa_arc3_xy2020.13 _DMC_01_start_spiral_xy2020.14 _DMC_01_start_spiral2_xy2020.15 _DMC_01_start_v3_arc_xy2020.16 _DMC_01_start_v3_arc2_xy2020.17 _DMC_01_start_v3_arc3_xy2020.18 _DMC_01_start_v3_spiral_xy2020.19 _DMC_01_start_v3_spiral2_xy20Chapter 21 3-Axis Linear Interpolation Motion Control API21_DMC_01_start_tr_move_xyz21_DMC_01_start_sr_move_xyz21_DMC_01_start_ta_move_xyz21_DMC_01_start_sa_move_xyz21_DMC_01_start_v3_move_xyz21Chapter 22 3-Axis Spiral Interpolation Motion Control API22_DMC_01_start_tr_heli_xy22_DMC_01_start_sr_heli_xy22_DMC_01_start_ta_heli_xy22_DMC_01_start_sa_heli_xy22_DMC_01_start_v3_heli_xy22Chapter 23 Velocity Motion Control API23_DMC_01_tv_move23_DMC_01_sv_move23Chapter 24 Synchronization Motion Control API24_DMC_01_sync_move24_DMC_01_sync_move_config24Chapter 25 Remote Module Control API25_DMC_01_get_rm_input_value25_DMC_01_set_rm_input_filter25_DMC_01_set_rm_input_filter_enable25_DMC_01_set_rm_output_value25_DMC_01_set_rm_output_value_error_handle25_DMC_01_get_rm_output_value25_DMC_01_get_rm_output_value_error_handle25_DMC_01_set_rm_output_active25Chapter 26 MPG and JOG Operation API26_DMC_01_set_rm_mpg_axes_enable26_DMC_01_set_rm_mpg_axes_enable226_DMC_01_set_rm_jog_axes_enable26Chapter 27 4-Channel Pulse Interface API27_DMC_01_set_rm_04pi_ipulse_mode27_DMC_01_set_rm_04pi_opulse_mode27_DMC_01_set_rm_04pi_svon_polarity27_DMC_01_set_rm_04pi_DO227_DMC_01_set_rm_04pi_homing_ratio27_DMC_01_04pi_set_poweron27_DMC_01_rm_04PI_get_buffer27Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API28_DMC_01_rm_04pi_md1_start_move28_DMC_01_rm_04pi_md1_v_move28_DMC_01_rm_04pi_md1_start_line228_DMC_01_rm_04pi_md1_start_line328_DMC_01_rm_04pi_md1_start_line428_DMC_01_rm_04pi_md1_start_arc28_DMC_01_rm_04pi_md1_start_arc228_DMC_01_rm_04pi_md1_start_arc328_DMC_01_rm_04pi_md1_start_heli2828.10 _DMC_01_rm_04pi_md1_p_change2828.11 _DMC_01_rm_04pi_md1_v_change2828.12 _DMC_01_rm_04pi_md1_set_gear2828.13 _DMC_01_rm_04pi_md1_set_soft_limit2828.14 _DMC_01_rm_04pi_md1_get_soft_limit_status2828.15 _DMC_01_rm_04pi_md1_set_sld2828.16 _DMC_01_rm_04pi_md1_get_mc_error_code2828.17 _DMC_01_set_rm_04pi_ref_counter28Chapter 29 4-Channel Analog Output Remote Module API29_DMC_01_rm_04da_set_output_value29_DMC_01_rm_04da_get_output_value29_DMC_01_rm_04da_get_return_code29_DMC_01_rm_04da_set_output_range29_DMC_01_rm_04da_set_output_enable29_DMC_01_rm_04da_set_output_overrange29_DMC_01_rm_04da_set_output_error_clear29_DMC_01_rm_04da_read_data29_DMC_01_rm_04da_set_output_error_handle2929.10 _DMC_01_rm_04da_set_output_offset_value2929.11 _DMC_01_rm_04da_get_output_offset_value29Chapter 30 4-Channel Analog Input Remote Module API30_DMC_01_set_04ad_input_range30_DMC_01_get_04ad_input_range30_DMC_01_set_04ad_zero_scale30_DMC_01_get_04ad_zero_scale_status30_DMC_01_set_04ad_full_scale30_DMC_01_get_04ad_full_scale_status30_DMC_01_set_04ad_conversion_time30_DMC_01_get_04ad_conversion_time30_DMC_01_get_04ad_data3030.10 _DMC_01_set_04ad_average_mode3030.11 _DMC_01_get_04ad_average_mode3030.12 _DMC_01_set_04ad_input_enable30Chapter 31 Slave Data API31_DMC_01_get_devicetype31_DMC_01_get_slave_version31Chapter 32 Parameter Monitoring API32_DMC_01_set_monitor32_DMC_01_get_monitor32_DMC_01_get_servo_command32_DMC_01_get_servo_DI32_DMC_01_get_servo_DO32Chapter 33 Alarm Message API33_DMC_01_set_ralm33_DMC_01_get_alm_code33_DMC_01_master_alm_code33_DMC_01_slave_error33Chapter 34 Multi-Axis Motion Control API34_DMC_01_multi_axes_move34_ DMC_01_liner_speed_master34_DMC_01_start_v3_multi_axes34Chapter 35 Buffer Operation API35_DMC_01_set_trigger_buf_function35Chapter 36 Interrupt API36_DMC_01_ set_int_factor36_DMC_01_ int_enable36_DMC_01_ int_disable36_DMC_01_ get_int_count36_DMC_01_ get_int_status36_DMC_01_link_ interrupt36Chapter 37 Security API37_DMC_01_ read_security37_DMC_01_ read_security_status37_DMC_01_write_security37_DMC_01_ write_security_status37_DMC_01_ check_userpassword37_DMC_01_write_ userpassword37_DMC_01_check_verifykey37_DMC_01_write_verifykey37_DMC_01_ read_serialno3737.10 misc_slave_check_userpassword3737.11 _misc_slave_write_userpassword3737.12 _misc_slave_get_serialno3737.13 _misc_security3737.14 _misc_slave_write_verifykey3737.15 _misc_slave_check_verifykey3737.16 _misc_slave_user_data_buffer_read3737.17 _misc_slave_user_data_buffer_write3737.18 _misc_slave_user_data_to_flash37Chapter 38 Limit Reversal API38_ DMC_01_rm_04pi_set_MEL_polarity38_ DMC_01_rm_04pi_get_MEL_polarity38_ DMC_01_rm_04pi_set_PEL_polarity38_ DMC_01_rm_04pi_get_PEL_polarity38Chapter 39 Compare API39_ DMC_01_set_compare_channel_position39_DMC_01_get_compare_channel_position39_DMC_01_set_compare_ipulse_mode39_DMC_01_set_compare_channel_direction39_DMC_01_set_compare_channel_trigger_time39_DMC_01_set_compare_channel_one_shot39_DMC_01_set_compare_channel_source39_DMC_01_channel0_position_cmp39_DMC_01_channel1_output_enable3939.10 _DMC_01_channel1_output_mode3939.11 _DMC_01_channel1_get_io_status3939.12 _DMC_01_channel1_set_gpio_out3939.13 _DMC_01_channel1_position_compare_table3939.14 _DMC_01_channel1_position_compare_table_level3939.15 _DMC_01_channel1_position_compare_table_cnt3939.16 _DMC_01_set_compare_channel_polarity3939.17 _DMC_01_channel0_position_cmp_by_gpio3939.18 _DMC_01_channel1_position_re_compare_table3939.19 _DMC_01_channel1_position_re_compare_table_level39Chapter 40 Linear and Arc Interpolation Motion Control API40_DMC_01_start_rline_xy40_DMC_01_start_rline_xyz40_DMC_01_start_v3_rline_xyz40Chapter 41 Speed Continue API41_DMC_01_speed_continue41_DMC_01_speed_continue_mode41_DMC_01_speed_continue_combine_ratio41Chapter 42 Other API42_misc_app_get_circle_endpoint42_misc_app_get_circle_center_point42_misc_set_record_debuging42_misc_open_record_debuging_file42_DMC_01_enable_dda_mode42_DMC_01_set_dda_data42_DMC_01_get_dda_cnt42Size: 2.19 MBPages: 528Language: EnglishOpen manual