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

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PCI-DMC-A01 / PCI-DMC-B01 Programming Manual

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Revised March, 2012

Table of Contents

Chapter 1 Introduction to the API Function Library --------------------------------------------------- 1-1

1.1

Using the Function Libraries ---------------------------------------------------------------------- 1-1

1.2

Edit New Project ------------------------------------------------------------------------------------- 1-1
1.2.1 Using VC ----------------------------------------------------------------------------------- 1-1
1.2.2 Using Borland C -------------------------------------------------------------------------- 1-1
1.2.3 Using VB ------------------------------------------------------------------------------------ 1-2
1.2.4 Using Delphi ------------------------------------------------------------------------------- 1-2
1.2.5 Using VB.Net ------------------------------------------------------------------------------ 1-2
1.2.6 Using C# ------------------------------------------------------------------------------------ 1-2

Chapter 2 Command Return Values and Messages --------------------------------------------------- 2-1

2.1

Error Codes ------------------------------------------------------------------------------------------- 2-1

2.2

Error Code Example -------------------------------------------------------------------------------- 2-4

Chapter 3 Operating Principles ------------------------------------------------------------------------------- 3-1

3.1

Card Initialization ------------------------------------------------------------------------------------ 3-1
3.1.1 Function List ------------------------------------------------------------------------------- 3-1
3.1.2 Sample Application ----------------------------------------------------------------------- 3-1

3.2

Read/Write Driver Parameters ------------------------------------------------------------------- 3-4
3.2.1 Function List ------------------------------------------------------------------------------- 3-4
3.2.2 Sample Application ----------------------------------------------------------------------- 3-4

3.3

CANopen Protocol ---------------------------------------------------------------------------------- 3-7
3.3.1 Function List ------------------------------------------------------------------------------- 3-7
3.3.2 Sample Application ----------------------------------------------------------------------- 3-7

3.4

Homing Motion Control ---------------------------------------------------------------------------- 3-9
3.4.1 Overview ------------------------------------------------------------------------------------ 3-9
3.4.2 Function List ------------------------------------------------------------------------------ 3-10
3.4.3 Sample Application ---------------------------------------------------------------------- 3-10

3.5

Torque Motion Control ---------------------------------------------------------------------------- 3-13
3.5.1 Function List ------------------------------------------------------------------------------ 3-13
3.5.2 Sample Application ---------------------------------------------------------------------- 3-13

3.6

Velocity Motion Control (1) ----------------------------------------------------------------------- 3-16
3.6.1 Function List ------------------------------------------------------------------------------ 3-16
3.6.2 Sample Application ---------------------------------------------------------------------- 3-16

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