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

Page 157

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Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC-B01

Revised March, 2012

4-3

_DMC_01_send_message3

Send SDO command message to data buffer and
exit data buffer once command is set

_DMC_01_read_message

Read last SDO command message into data buffer

_DMC_01_read_message2

Read the last SDO command message into data
buffer and return number of reads

_DMC_01_get_message

Get SDO command message and place in data
buffer

_DMC_01_reset_sdo_choke When

SDO

command is blocked, reset SDO

_DMC_01_get_sdo_retry_history

Get number of SDO resends

Point to Point Motion Control Packet Protocol API

_DMC_01_set_sdo_driver_speed_profile Set

speed parameter for packet protocol

_DMC_01_start_sdo_driver_r_move

Start relative motion displacement

_DMC_01_start_sdo_driver_a_move Start absolute motion displacement
_DMC_01_start_sdo_driver_new_position
_move

Perform motion displacement with new position
value

Homing Motion Control Packet Protocol API

_DMC_01_set_home_config

Set home configuration

_DMC_01_set_home_move

Start home motion

_DMC_01_escape_home_move

Stop homing motion

Velocity Motion Control Packet Protocol API

_DMC_01_set_velocity_mode

Set velocity motion control parameter profile

_DMC_01_set_velocity

Start velocity motion control

_DMC_01_set_velocity_stop

Stop velocity motion control

_DMC_01_set_velocity_torque_limit

Set torque limit for velocity mode

Torque Motion Control Packet Protocol API

_DMC_01_set_torque_mode Torque

motion control parameter profile

_DMC_01_set_torque

Start torque motion

_DMC_01_set_torque_stop

Stop torque motion

_DMC_01_set_torque_velocity_limit

Set velocity limit in torque mode

Use PDO Protocol API

_DMC_01_ipo_set_svon

Set Servo ON/OFF under PDO protocol mode

_DMC_01_get_buffer_length

Get motion command to be executed

_DMC_01_command_buf_clear

Reset dwell time (buffer dwell counter value)

_DMC_01_buf_dwell

Interval between two motion commands

_DMC_01_set_group Set

group

Stop Motion Control API

_DMC_01_emg_stop

All motion commands in buffer will execute
immediate stop

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