Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 Manuel D’Utilisation
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01
3-14
Revised March, 2012
Input Node ID and check the “Timer” checkbox to enable motion status display
NodeID item: API function argument variable “NodeID”.
Timer Checkbox: Check to display the motion status. Uncheck to disable display.
NodeID item: API function argument variable “NodeID”.
Timer Checkbox: Check to display the motion status. Uncheck to disable display.
3) Enter values for slope and ratio
Figure 3.23
Slope item: Time required to go from 0 to 100% rate torque. (Unit: ms)
Ratio item: Thousandths of rated torque. For example, a value of 100 represents
10% of rated torque.
Ratio item: Thousandths of rated torque. For example, a value of 100 represents
10% of rated torque.
4) Set Servo Motor Power ON/OFF(servo on/servo off)
Figure 3.24
Click on the “SVON” button to execute the following procedure:
rt = _DMC_01_ipo_set_svon (gDMCCardNo, NodeID, SlotID , ON_OFF);
// ON_OFF: 0 – Servo Power OFF; 1 – Servo Power ON
5) Torque Motion Control
Click on the “” or “” button to execute the following procedure:
/* Set torque parameter (slope value) */
rt = _DMC_01_set_torque_mode(gDMCCardNo, NodeID, SlotID, slope);
/* Start torque motion */
rt = _DMC_01_set_torque(gDMCCardNo, NodeID, SlotID, ratio);
// If ratio is greater than 0, the motor rotates clockwise. If ratio is less than 0, the
motor rotates counterclockwise.
motor rotates counterclockwise.
Press the “STOP” button to execute torque stop or not
/* Whether the motor's torque motion has stopped or not depends on the Stop value.
If Stop value is 1 then torque motion has stopped. */
If Stop value is 1 then torque motion has stopped. */
rt = _DMC_01_set_torque_stop(gDMCCardNo, NodeID, SlotID, stop);
6) Display current torque value
rt = _DMC_01_get_torque(gDMCCardNo, NodeID, SlotID, &torque);
// torque variable will return current torque value