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

Page 158

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

4-4

Revised March, 2012

_DMC_01_sd_stop

All motion commands in buffer will execute slow
down stop based on deceleration time

_DMC_01_sd_abort

Current motion command will execute deceleration
time stop

_DMC_01_set_sd_mode

Set Sd_stop mode

Motion Status API

_DMC_01_motion_done Return

current

motion stage of the Master Card

_DMC_01_motion_status

Return current motion status of the Master Card

Motion Counter Value API

_DMC_01_get_command

Get Command counter value

_DMC_01_set_command

Set new Command counter value

_DMC_01_get_position Get

current position counter value

_DMC_01_set_position

Set new position counter value

_DMC_01_get_target_pos

Get current position's position value

_DMC_01_get_torque

Get and return the current torque counter value

_DMC_01_get_current_speed

Get motion speed

_DMC_01_get_current_speed_rpm

Get current RPM multiplied by 10

Software Limit API

_DMC_01_set_soft_limit Set

reference

values for software positive/negative

limits

_DMC_01_enable_soft_limit

Enable/disable software limit and stop method after
contact with limit

_DMC_01_disable_soft_limit

Disable software limit

_DMC_01_get_soft_limit_status

Get status of software positive/negative limit during
motion

1-Axis Motion Control API

_DMC_01_start_tr_move Motion displacement using relative coordinates with

T-curve velocity cross-section

_DMC_01_start_sr_move

Motion displacement using relative coordinates with
S-curve velocity cross-section

_DMC_01_start_ta_move Motion

displacement using absolute coordinates

with T-curve velocity cross-section

_DMC_01_start_sa_move

Motion displacement using absolute coordinates
with S-curve velocity cross-section

_DMC_01_p_change Replace

current

position with new position value

_DMC_01_v_change

Replace current motion velocity with new velocity
value

_DMC_01_start_tr_move_2seg

2nd motion displacement using relative coordinates
with T-curve velocity cross-section

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