DMC Functions

DELTA ELECTRONICS CO., LTD.
PCI-DMC-A01
PCI-DMC-B01
High-Speed PCI 12-Axis Motion Control Card
Programming Manual
Version: 1.11.1
PCI-DMC-A01 / PCI-DMC-B01 Programming Manual
About this Manual

User Information
Please keep this manual in a safe place.
This manual is subject to change without notice due to the release of new products,
improvements and changes in technologies, and/or modifications to data and forms.
This manual may not be copied or reproduced in whole or in part without the express written
consent of Delta Electronics.
Trademarks
Windows NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are all registered trademarks of
Microsoft Corporation.
BCB (Borland C++ Builder) is a registered trademark of Borland Corporation.
The names of other products are only used for identification purposes and the registered
trademarks remain the property of their respective owners.
Technical Support and Service

If you require technical support, service, or other information, or should you have any questions
about the use of this product, please visit our website
(http://www.delta.com.tw/industrialautomation) or contact us directly. We look forward to providing
you the best possible support and service. Our contact details are provided below.
ASIA JAPAN
DELTA ELECTRONICS, INC. DELTA ELECTRONICS (JAPAN), INC.
Taoyuan Plant 1 Tokyo Office
31-1, XINGBANG ROAD, DELTA SHIBADAIMON BUILDING
GUISHAN INDUSTRIAL ZONE, 2-1-14 SHIBADAIMON, MINATO-KU,
TAOYUAN COUNTY 33370, TAIWAN, R.O.C. TOKYO, 105-0012, JAPAN
TEL: 886-3-362-6301 TEL: 81-3-5733-1111
FAX: 886-3-362-7267 FAX: 81-3-5733-1211
NORTH/SOUTH AMERICA EUROPE

DELTA PRODUCTS CORPORATION (USA) DELTRONICS (THE NETHERLANDS) B.V.
Raleigh Office Eindhoven Office
P.O. BOX 12173 DE WITBOGT 15, 5652 AG EINDHOVEN,
5101 DAVIS DRIVE, THE NETHERLANDS
RESEARCH TRIANGLE PARK, NC 27709, U.S.A. TEL: 31-40-259-2850
TEL: 1-919-767-3813 FAX: 31-40-259-2851
FAX: 1-919-767-3969
Revised March, 2012 i

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
3.3 CANopen Protocol ---------------------------------------------------------------------------------- 3-7
3.3.1 Function List ------------------------------------------------------------------------------- 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
3.6 Velocity Motion Control (1)-----------------------------------------------------------------------3-16
3.6.1 Function List ------------------------------------------------------------------------------3-16
ii Revised March, 2012

3.7 Velocity Motion Control (2)-----------------------------------------------------------------------3-19
3.7.1 Function List ------------------------------------------------------------------------------3-19
3.8 Point to Point Motion Control --------------------------------------------------------------------3-21
3.8.1 Overview -----------------------------------------------------------------------------------3-21
3.8.2 Function List ------------------------------------------------------------------------------3-21
3.9 Linear Interpolation Motion Control ------------------------------------------------------------3-26
3.9.1 Overview -----------------------------------------------------------------------------------3-26
3.9.2 Function List ------------------------------------------------------------------------------3-26
3.10 Arc Interpolation Motion Control ----------------------------------------------------------------3-31
3.10.1 Overview -----------------------------------------------------------------------------------3-31
3.10.2 Function List ------------------------------------------------------------------------------3-31
3.11 Spiral Interpolation Motion Control -Helix ----------------------------------------------------3-37
3.11.1 Function List ------------------------------------------------------------------------------3-37
3.12 Continuous Interpolation Motion Control -----------------------------------------------------3-42
3.12.1 Overview -----------------------------------------------------------------------------------3-42
3.12.2 Function List ------------------------------------------------------------------------------3-42
3.13 Software Limit Control ----------------------------------------------------------------------------3-47
3.13.1 Function List ------------------------------------------------------------------------------3-47
3.14 Synchronization Motion Control ----------------------------------------------------------------3-51
3.14.1 Function List ------------------------------------------------------------------------------3-51
3.15 Dwell Command ------------------------------------------------------------------------------------3-55
3.15.1 Function List ------------------------------------------------------------------------------3-55
3.16 Change Position ------------------------------------------------------------------------------------3-57
3.16.1 Function List ------------------------------------------------------------------------------3-57
3.17 Change Position ------------------------------------------------------------------------------------3-60
3.17.1 Function List ------------------------------------------------------------------------------3-60
Revised March, 2012 iii

3.18 Change Velocity ------------------------------------------------------------------------------------3-63

3.18.1 Function List ------------------------------------------------------------------------------3-63
3.19 Remote I/O Module-I/O Port---------------------------------------------------------------------3-67
3.19.1 Function List ------------------------------------------------------------------------------3-67
3.20 Remote I/O Module- Manual Pulse Generator (1) -----------------------------------------3-70
3.20.1 Function List ------------------------------------------------------------------------------3-70
3.21 Remote I/O Module- Manual Pulse Generator (2) -----------------------------------------3-73
3.21.1 Function List ------------------------------------------------------------------------------3-73
3.22 Remote Pulse Interface Module -Mode 1 ----------------------------------------------------3-76
3.22.1 Function List ------------------------------------------------------------------------------3-76
3.23 Remote Pulse Interface Module -Mode 2 ----------------------------------------------------3-83
3.23.1 Function List ------------------------------------------------------------------------------3-83
3.24 Get (Calculate) Arc Information-----------------------------------------------------------------3-87
3.24.1 Function List ------------------------------------------------------------------------------3-87
3.25 Control Interrupt ------------------------------------------------------------------------------------3-90
3.25.1 Function List ------------------------------------------------------------------------------3-90
3.26 MasterCard Security-------------------------------------------------------------------------------3-94
3.26.1 Function List ------------------------------------------------------------------------------3-94
3.27 Remote Analog Input/Output Module ------------------------------------------------------- 3-100
3.27.1 Function List ---------------------------------------------------------------------------- 3-100
3.27.2 Sample Application-------------------------------------------------------------------- 3-101
3.28 Spiral Interpolation Motion Control -Spiral ------------------------------------------------- 3-106
3.28.1 Function List ---------------------------------------------------------------------------- 3-106
3.29 Position Compare -------------------------------------------------------------------------------- 3-111
3.29.1 Function List ---------------------------------------------------------------------------- 3-111
iv Revised March, 2012

3.30 Axis Group ----------------------------------------------------------------------------------------- 3-116

3.30.1 Function List ---------------------------------------------------------------------------- 3-116
3.31 Speed Continue ---------------------------------------------------------------------------------- 3-119
3.31.1 Function List ---------------------------------------------------------------------------- 3-119
3.32 Spiral Interpolation - Helix Using -Sp1_ Normal Follow -------------------------------- 3-122
3.32.1 Function List ---------------------------------------------------------------------------- 3-122
3.33 Logger ---------------------------------------------------------------------------------------------- 3-130
3.33.1 Function List ---------------------------------------------------------------------------- 3-130
Chapter 4 Control API-------------------------------------------------------------------------------------------- 4-1

4.1 Data Type and Range ----------------------------------------------------------------------------- 4-1
4.2 Function Description ------------------------------------------------------------------------------- 4-2
Chapter 5 Hardware Initialization API ---------------------------------------------------------------------- 5-1

5.1 _DMC_01_open ------------------------------------------------------------------------------------- 5-2
5.2 _DMC_01_close ------------------------------------------------------------------------------------- 5-2
5.3 _DMC_01_get_CardNo_seq --------------------------------------------------------------------- 5-3
5.4 _DMC_01_pci_initial ------------------------------------------------------------------------------- 5-4
5.5 _DMC_01_get_card_version --------------------------------------------------------------------- 5-4
Chapter 6 Interface API ------------------------------------------------------------------------------------------ 6-1

6.1 _DMC_01_initial_bus ------------------------------------------------------------------------------ 6-2
6.2 _DMC_01_start_ring ------------------------------------------------------------------------------- 6-2
6.3 _DMC_01_get_device_table --------------------------------------------------------------------- 6-3
6.4 _DMC_01_get_node_table ----------------------------------------------------------------------- 6-3
6.5 _DMC_01_check_card_running ----------------------------------------------------------------- 6-4
6.6 _DMC_01_reset_card ----------------------------------------------------------------------------- 6-4
6.7 _DMC_01_check_nodeno ------------------------------------------------------------------------ 6-5
6.8 _DMC_01_get_master_connect_status ------------------------------------------------------- 6-6
6.9 _DMC_01_get_mailbox_Error ------------------------------------------------------------------- 6-6
6.10 _DMC_01_get_mailbox_cnt ---------------------------------------------------------------------- 6-7
6.11 _DMC_01_get_dsp_cnt --------------------------------------------------------------------------- 6-7
6.12 _DMC_01_set_dio_output ------------------------------------------------------------------------ 6-8
6.13 _DMC_01_get_dio_output ------------------------------------------------------------------------ 6-8
Revised March, 2012 v
6.14 _DMC_01_get_dio_input -------------------------------------------------------------------------- 6-9
6.15 _DMC_01_get_cycle_time ------------------------------------------------------------------------ 6-9
6.16 _DMC_01_initial_bus2 ----------------------------------------------------------------------------6-10
6.17 _DMC_01_motion_cnt ----------------------------------------------------------------------------6-10
Chapter 7 Servo Drive Parameter Read/Write API ------------------------------------------------------ 7-1

7.1 _DMC_01_read_servo_parameter ------------------------------------------------------------- 7-2
7.2 _DMC_01_write_servo_parameter ------------------------------------------------------------- 7-3
Chapter 8 Using SDO Protocol API -------------------------------------------------------------------------- 8-1

8.1 CANopen SDO protocol --------------------------------------------------------------------------- 8-2
8.2 _DMC_01_check_canopen_lock ---------------------------------------------------------------- 8-6
8.3 _DMC_01_get_canopen_ret --------------------------------------------------------------------- 8-7
8.4 _DMC_01_set_pdo_mode ------------------------------------------------------------------------ 8-8
8.5 _DMC_01_send_message ----------------------------------------------------------------------- 8-9
8.6 _DMC_01_send_message3 ---------------------------------------------------------------------8-10
8.7 _DMC_01_read_message -----------------------------------------------------------------------8-11
8.8 _DMC_01_read_message2 ---------------------------------------------------------------------8-12
8.9 _DMC_01_get_message -------------------------------------------------------------------------8-13
8.10 _DMC_01_reset_sdo_choke --------------------------------------------------------------------8-14
8.11 _DMC_01_get_sdo_retry_history --------------------------------------------------------------8-14
Chapter 9 Point to Point Motion Control Packet Protocol API ------------------------------------- 9-1
9.1 _DMC_01_set_sdo_driver_speed_profile ---------------------------------------------------- 9-2
9.2 _DMC_01_start_sdo_driver_r_move----------------------------------------------------------- 9-3
9.3 _DMC_01_start_sdo_driver_a_move ---------------------------------------------------------- 9-4
9.4 _DMC_01_start_sdo_driver_new_position_move ------------------------------------------ 9-5
Chapter 10 Homing Motion Control Packet Protocol API -------------------------------------------10-1

10.1 _DMC_01_set_home_config --------------------------------------------------------------------10-2
10.2 _DMC_01_set_home_move---------------------------------------------------------------------10-7
10.3 _DMC_01_escape_home_move ---------------------------------------------------------------10-8
Chapter 11 Velocity Motion Control Packet Protocol API -------------------------------------------11-1

11.1 _DMC_01_set_velocity_mode ------------------------------------------------------------------11-2
11.2 _DMC_01_set_velocity ---------------------------------------------------------------------------11-3
11.3 _DMC_01_set_velocity_stop --------------------------------------------------------------------11-4
11.4 _DMC_01_set_velocity_torque_limit ----------------------------------------------------------11-5
vi Revised March, 2012

Chapter 12 Torque Motion Control Packet Protocol API --------------------------------------------12-1
12.1 _DMC_01_set_torque_mode -------------------------------------------------------------------12-2
12.2 _DMC_01_set_torque ----------------------------------------------------------------------------12-3
12.3 _DMC_01_set_torque_stop ---------------------------------------------------------------------12-4
12.4 _DMC_01_set_torque_velocity_limit ----------------------------------------------------------12-5
Chapter 13 Using PDO Protocol API -----------------------------------------------------------------------13-1

13.1 _DMC_01_ipo_set_svon -------------------------------------------------------------------------13-2
13.2 _DMC_01_get_buffer_length -------------------------------------------------------------------13-3
13.3 _DMC_01_command_buf_clear----------------------------------------------------------------13-4
13.4 _DMC_01_buf_dwell ------------------------------------------------------------------------------13-5
13.5 _DMC_01_set_group -----------------------------------------------------------------------------13-6
Chapter 14 Stop Motion Control API -----------------------------------------------------------------------14-1

14.1 _DMC_01_emg_stop -----------------------------------------------------------------------------14-2
14.2 _DMC_01_sd_stop --------------------------------------------------------------------------------14-3
14.3 _DMC_01_sd_abort -------------------------------------------------------------------------------14-4
14.4 _DMC_01_set_sd_mode -------------------------------------------------------------------------14-5
Chapter 15 Motion Status API --------------------------------------------------------------------------------15-1

15.1 _DMC_01_motion_done -------------------------------------------------------------------------15-2
15.2 _DMC_01_motion_status ------------------------------------------------------------------------15-3
Chapter 16 Motion Counter Value API ---------------------------------------------------------------------16-1

16.1 _DMC_01_get_command ------------------------------------------------------------------------16-2
16.2 _DMC_01_set_command ------------------------------------------------------------------------16-2
16.3 _DMC_01_get_position---------------------------------------------------------------------------16-3
16.4 _DMC_01_set_position ---------------------------------------------------------------------------16-3
16.5 _DMC_01_get_target_pos -----------------------------------------------------------------------16-4
16.6 _DMC_01_get_torque ----------------------------------------------------------------------------16-5
16.7 _DMC_01_get_current_speed ------------------------------------------------------------------16-6
16.8 _DMC_01_get_current_speed_rpm -----------------------------------------------------------16-7
Chapter 17 Software Limit API -------------------------------------------------------------------------------17-1

17.1 _DMC_01_set_soft_limit -------------------------------------------------------------------------17-2
17.2 _DMC_01_enable_soft_limit --------------------------------------------------------------------17-3
17.3 _DMC_01_disable_soft_limit --------------------------------------------------------------------17-3
17.4 _DMC_01_get_soft_limit_status ---------------------------------------------------------------17-4
Revised March, 2012 vii

Chapter 18 1-Axis Motion Control API --------------------------------------------------------------------18-1
18.1 _DMC_01_start_tr_move ------------------------------------------------------------------------18-2
18.2 _DMC_01_start_sr_move ------------------------------------------------------------------------18-3
18.3 _DMC_01_start_ta_move ------------------------------------------------------------------------18-4
18.4 _DMC_01_start_sa_move -----------------------------------------------------------------------18-5
18.5 _DMC_01_p_change -----------------------------------------------------------------------------18-6
18.6 _DMC_01_v_change ------------------------------------------------------------------------------18-7
18.7 _DMC_01_start_tr_move_2seg ----------------------------------------------------------------18-9
18.8 _DMC_01_start_sr_move_2seg-------------------------------------------------------------- 18-11
18.9 _DMC_01_start_ta_move_2seg-------------------------------------------------------------- 18-12
18.10 _DMC_01_start_sa_move_2seg ------------------------------------------------------------- 18-13
18.11 _DMC_01_start_tr_move_2seg2------------------------------------------------------------- 18-14
18.12 _DMC_01_start_sr_move_2seg2 ------------------------------------------------------------ 18-16
18.13 _DMC_01_start_ta_move_2seg2 ------------------------------------------------------------ 18-17
18.14 _DMC_01_start_sa_move_2seg2 ----------------------------------------------------------- 18-18
18.15 _DMC_01_feedrate_overwrite ---------------------------------------------------------------- 18-19
18.16 _DMC_01_start_v3_move --------------------------------------------------------------------- 18-21
Chapter 19 2-Axis Linear Interpolation Motion Control API ----------------------------------------19-1

19.1 _DMC_01_start_tr_move_xy --------------------------------------------------------------------19-2
19.2 _DMC_01_start_sr_move_xy -------------------------------------------------------------------19-4
19.3 _DMC_01_start_ta_move_xy -------------------------------------------------------------------19-6
19.4 _DMC_01_start_sa_move_xy ------------------------------------------------------------------19-8
19.5 _DMC_01_start_v3_move_xy ---------------------------------------------------------------- 19-10
Chapter 20 2-Axis Arc Interpolation Motion Control API --------------------------------------------20-1

20.1 _DMC_01_start_tr_arc_xy -----------------------------------------------------------------------20-3
20.2 _DMC_01_start_sr_arc_xy ----------------------------------------------------------------------20-5
20.3 _DMC_01_start_ta_arc_xy ----------------------------------------------------------------------20-7
20.4 _DMC_01_start_sa_arc_xy----------------------------------------------------------------------20-9
20.5 _DMC_01_start_tr_arc2_xy ------------------------------------------------------------------- 20-11
20.6 _DMC_01_start_sr_arc2_xy------------------------------------------------------------------- 20-13
20.7 _DMC_01_start_ta_arc2_xy------------------------------------------------------------------- 20-15
20.8 _DMC_01_start_sa_arc2_xy ------------------------------------------------------------------ 20-17
20.9 _DMC_01_start_tr_arc3_xy ------------------------------------------------------------------- 20-19
20.11 _DMC_01_start_ta_arc3_xy------------------------------------------------------------------- 20-23
20.12 _DMC_01_start_sa_arc3_xy ------------------------------------------------------------------ 20-25
viii Revised March, 2012
20.13 _DMC_01_start_spiral_xy --------------------------------------------------------------------- 20-27
20.14 _DMC_01_start_spiral2_xy -------------------------------------------------------------------- 20-29
20.15 _DMC_01_start_v3_arc_xy-------------------------------------------------------------------- 20-31
20.16 _DMC_01_start_v3_arc2_xy ------------------------------------------------------------------ 20-33
20.17 _DMC_01_start_v3_arc3_xy ------------------------------------------------------------------ 20-35
20.18 _DMC_01_start_v3_spiral_xy----------------------------------------------------------------- 20-37
20.19 _DMC_01_start_v3_spiral2_xy --------------------------------------------------------------- 20-39
Chapter 21 3-Axis Linear Interpolation Motion Control API ----------------------------------------21-1

21.1 _DMC_01_start_tr_move_xyz ------------------------------------------------------------------21-2
21.2 _DMC_01_start_sr_move_xyz------------------------------------------------------------------21-3
21.3 _DMC_01_start_ta_move_xyz------------------------------------------------------------------21-4
21.4 _DMC_01_start_sa_move_xyz -----------------------------------------------------------------21-5
21.5 _DMC_01_start_v3_move_xyz -----------------------------------------------------------------21-6
Chapter 22 3-Axis Spiral Interpolation Motion Control API ----------------------------------------22-1

22.1 _DMC_01_start_tr_heli_xy ----------------------------------------------------------------------22-2
22.2 _DMC_01_start_sr_heli_xy ----------------------------------------------------------------------22-4
22.3 _DMC_01_start_ta_heli_xy ----------------------------------------------------------------------22-6
22.4 _DMC_01_start_sa_heli_xy ---------------------------------------------------------------------22-8
22.5 _DMC_01_start_v3_heli_xy ------------------------------------------------------------------- 22-10
Chapter 23 Velocity Motion Control API ------------------------------------------------------------------23-1

23.1 _DMC_01_tv_move -------------------------------------------------------------------------------23-2
23.2 _DMC_01_sv_move -------------------------------------------------------------------------------23-3
Chapter 24 Synchronization Motion Control API ------------------------------------------------------24-1

24.1 _DMC_01_sync_move----------------------------------------------------------------------------24-2
24.2 _DMC_01_sync_move_config ------------------------------------------------------------------24-2
Chapter 25 Remote Module Control API ------------------------------------------------------------------25-1

25.1 _DMC_01_get_rm_input_value ----------------------------------------------------------------25-2
25.2 _DMC_01_set_rm_input_filter ------------------------------------------------------------------25-3
25.3 _DMC_01_set_rm_input_filter_enable -------------------------------------------------------25-4
25.4 _DMC_01_set_rm_output_value ---------------------------------------------------------------25-5
25.5 _DMC_01_set_rm_output_value_error_handle --------------------------------------------25-6
25.6 _DMC_01_get_rm_output_value---------------------------------------------------------------25-7
25.7 _DMC_01_get_rm_output_value_error_handle --------------------------------------------25-8
Revised March, 2012 ix

25.8 _DMC_01_set_rm_output_active --------------------------------------------------------------25-9
Chapter 26 MPG and JOG Operation API-----------------------------------------------------------------26-1

26.1 _DMC_01_set_rm_mpg_axes_enable -------------------------------------------------------26-2
26.2 _DMC_01_set_rm_mpg_axes_enable2 ------------------------------------------------------26-4
26.3 _DMC_01_set_rm_jog_axes_enable ---------------------------------------------------------26-6
Chapter 27 4-Channel Pulse Interface API ---------------------------------------------------------------27-1

27.1 _DMC_01_set_rm_04pi_ipulse_mode --------------------------------------------------------27-2
27.2 _DMC_01_set_rm_04pi_opulse_mode -------------------------------------------------------27-3
27.3 _DMC_01_set_rm_04pi_svon_polarity -------------------------------------------------------27-4
27.4 _DMC_01_set_rm_04pi_DO2 ------------------------------------------------------------------27-5
27.5 _DMC_01_set_rm_04pi_homing_ratio -------------------------------------------------------27-6
27.6 _DMC_01_04pi_set_poweron ------------------------------------------------------------------27-7
27.7 _DMC_01_rm_04PI_get_buffer ----------------------------------------------------------------27-8
Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API ----------------------------28-1

28.1 _DMC_01_rm_04pi_md1_start_move --------------------------------------------------------28-3
28.2 _DMC_01_rm_04pi_md1_v_move ------------------------------------------------------------28-5
28.3 _DMC_01_rm_04pi_md1_start_line2 ---------------------------------------------------------28-6
28.4 _DMC_01_rm_04pi_md1_start_line3 ---------------------------------------------------------28-8
28.5 _DMC_01_rm_04pi_md1_start_line4 ------------------------------------------------------- 28-10
28.6 _DMC_01_rm_04pi_md1_start_arc --------------------------------------------------------- 28-12
28.7 _DMC_01_rm_04pi_md1_start_arc2 ------------------------------------------------------- 28-14
28.8 _DMC_01_rm_04pi_md1_start_arc3 ------------------------------------------------------- 28-16
28.9 _DMC_01_rm_04pi_md1_start_heli--------------------------------------------------------- 28-18
28.10 _DMC_01_rm_04pi_md1_p_change-------------------------------------------------------- 28-20
28.11 _DMC_01_rm_04pi_md1_v_change -------------------------------------------------------- 28-21
28.12 _DMC_01_rm_04pi_md1_set_gear --------------------------------------------------------- 28-22
28.13 _DMC_01_rm_04pi_md1_set_soft_limit --------------------------------------------------- 28-23
28.14 _DMC_01_rm_04pi_md1_get_soft_limit_status ----------------------------------------- 28-24
28.15 _DMC_01_rm_04pi_md1_set_sld ----------------------------------------------------------- 28-25
28.16 _DMC_01_rm_04pi_md1_get_mc_error_code ------------------------------------------- 28-26
28.17 _DMC_01_set_rm_04pi_ref_counter ------------------------------------------------------- 28-27
Chapter 29 4-Channel Analog Output Remote Module API ----------------------------------------29-1

29.1 _DMC_01_rm_04da_set_output_value ------------------------------------------------------29-2
29.2 _DMC_01_rm_04da_get_output_value ------------------------------------------------------29-3
x Revised March, 2012
29.3 _DMC_01_rm_04da_get_return_code -------------------------------------------------------29-4
29.4 _DMC_01_rm_04da_set_output_range ------------------------------------------------------29-5
29.5 _DMC_01_rm_04da_set_output_enable-----------------------------------------------------29-6
29.6 _DMC_01_rm_04da_set_output_overrange ------------------------------------------------29-7
29.7 _DMC_01_rm_04da_set_output_error_clear -----------------------------------------------29-8
29.8 _DMC_01_rm_04da_read_data ----------------------------------------------------------------29-9
29.9 _DMC_01_rm_04da_set_output_error_handle ------------------------------------------- 29-10
29.10 _DMC_01_rm_04da_set_output_offset_value ------------------------------------------- 29-11
29.11 _DMC_01_rm_04da_get_output_offset_value ------------------------------------------- 29-12
Chapter 30 4-Channel Analog Input Remote Module API -------------------------------------------30-1

30.1 _DMC_01_set_04ad_input_range -------------------------------------------------------------30-2
30.2 _DMC_01_get_04ad_input_range -------------------------------------------------------------30-3
30.3 _DMC_01_set_04ad_zero_scale --------------------------------------------------------------30-4
30.4 _DMC_01_get_04ad_zero_scale_status ----------------------------------------------------30-5
30.5 _DMC_01_set_04ad_full_scale ----------------------------------------------------------------30-6
30.6 _DMC_01_get_04ad_full_scale_status ------------------------------------------------------30-7
30.7 _DMC_01_set_04ad_conversion_time -------------------------------------------------------30-8
30.8 _DMC_01_get_04ad_conversion_time -------------------------------------------------------30-9
30.9 _DMC_01_get_04ad_data --------------------------------------------------------------------- 30-10
30.10 _DMC_01_set_04ad_average_mode ------------------------------------------------------- 30-11
30.11 _DMC_01_get_04ad_average_mode------------------------------------------------------- 30-12
30.12 _DMC_01_set_04ad_input_enable---------------------------------------------------------- 30-13
Chapter 31 Slave Data API ------------------------------------------------------------------------------------31-1

31.1 _DMC_01_get_devicetype-----------------------------------------------------------------------31-2
31.2 _DMC_01_get_slave_version-------------------------------------------------------------------31-4
Chapter 32 Parameter Monitoring API ---------------------------------------------------------------------32-1

32.1 _DMC_01_set_monitor ---------------------------------------------------------------------------32-2
32.2 _DMC_01_get_monitor ---------------------------------------------------------------------------32-5
32.3 _DMC_01_get_servo_command ---------------------------------------------------------------32-6
32.4 _DMC_01_get_servo_DI -------------------------------------------------------------------------32-7
32.5 _DMC_01_get_servo_DO -----------------------------------------------------------------------32-8
Chapter 33 Alarm Message API ------------------------------------------------------------------------------33-1

33.1 _DMC_01_set_ralm -------------------------------------------------------------------------------33-2
33.2 _DMC_01_get_alm_code ------------------------------------------------------------------------33-3
Revised March, 2012 xi
33.3 _DMC_01_master_alm_code -------------------------------------------------------------------33-4
33.4 _DMC_01_slave_error ----------------------------------------------------------------------------33-5
Chapter 34 Multi-Axis Motion Control API ---------------------------------------------------------------34-1

34.1 _DMC_01_multi_axes_move -------------------------------------------------------------------34-2
34.2 _ DMC_01_liner_speed_master----------------------------------------------------------------34-4
34.3 _DMC_01_start_v3_multi_axes ----------------------------------------------------------------34-5
Chapter 35 Buffer Operation API ----------------------------------------------------------------------------35-1

35.1 _DMC_01_set_trigger_buf_function-----------------------------------------------------------35-2
Chapter 36 Interrupt API ---------------------------------------------------------------------------------------36-1

36.1 _DMC_01_ set_int_factor ------------------------------------------------------------------------36-2
36.2 _DMC_01_ int_enable ----------------------------------------------------------------------------36-3
36.3 _DMC_01_ int_disable ---------------------------------------------------------------------------36-3
36.4 _DMC_01_ get_int_count ------------------------------------------------------------------------36-4
36.5 _DMC_01_ get_int_status -----------------------------------------------------------------------36-5
36.6 _DMC_01_link_ interrupt -------------------------------------------------------------------------36-6
Chapter 37 Security API ----------------------------------------------------------------------------------------37-1

37.1 _DMC_01_ read_security ------------------------------------------------------------------------37-2
37.2 _DMC_01_ read_security_status --------------------------------------------------------------37-2
37.3 _DMC_01_write_security ------------------------------------------------------------------------37-3
37.4 _DMC_01_ write_security_status --------------------------------------------------------------37-3
37.5 _DMC_01_ check_userpassword --------------------------------------------------------------37-4
37.6 _DMC_01_write_ userpassword ---------------------------------------------------------------37-4
37.7 _DMC_01_check_verifykey ---------------------------------------------------------------------37-5
37.8 _DMC_01_write_verifykey -----------------------------------------------------------------------37-5
37.9 _DMC_01_ read_serialno ------------------------------------------------------------------------37-6
37.10 misc_slave_check_userpassword -------------------------------------------------------------37-7
37.11 _misc_slave_write_userpassword -------------------------------------------------------------37-8
37.12 _misc_slave_get_serialno -----------------------------------------------------------------------37-9
37.13 _misc_security ------------------------------------------------------------------------------------ 37-10
37.14 _misc_slave_write_verifykey ------------------------------------------------------------------ 37-11
37.15 _misc_slave_check_verifykey ---------------------------------------------------------------- 37-12
37.16 _misc_slave_user_data_buffer_read ------------------------------------------------------- 37-13
37.17 _misc_slave_user_data_buffer_write ------------------------------------------------------- 37-14
37.18 _misc_slave_user_data_to_flash ------------------------------------------------------------ 37-15
xii Revised March, 2012
Chapter 38 Limit Reversal API -------------------------------------------------------------------------------38-1
38.1 _ DMC_01_rm_04pi_set_MEL_polarity ------------------------------------------------------38-2
38.2 _ DMC_01_rm_04pi_get_MEL_polarity ------------------------------------------------------38-3
38.3 _ DMC_01_rm_04pi_set_PEL_polarity -------------------------------------------------------38-4
38.4 _ DMC_01_rm_04pi_get_PEL_polarity -------------------------------------------------------38-5
Chapter 39 Compare API---------------------------------------------------------------------------------------39-1

39.1 _ DMC_01_set_compare_channel_position ------------------------------------------------39-2
39.2 _DMC_01_get_compare_channel_position -------------------------------------------------39-3
39.3 _DMC_01_set_compare_ipulse_mode -------------------------------------------------------39-4
39.4 _DMC_01_set_compare_channel_direction ------------------------------------------------39-5
39.5 _DMC_01_set_compare_channel_trigger_time --------------------------------------------39-6
39.6 _DMC_01_set_compare_channel_one_shot -----------------------------------------------39-7
39.7 _DMC_01_set_compare_channel_source ---------------------------------------------------39-8
39.8 _DMC_01_channel0_position_cmp -----------------------------------------------------------39-9
39.9 _DMC_01_channel1_output_enable -------------------------------------------------------- 39-10
39.10 _DMC_01_channel1_output_mode --------------------------------------------------------- 39-11
39.11 _DMC_01_channel1_get_io_status --------------------------------------------------------- 39-13
39.12 _DMC_01_channel1_set_gpio_out ---------------------------------------------------------- 39-14
39.13 _DMC_01_channel1_position_compare_table ------------------------------------------- 39-15
39.14 _DMC_01_channel1_position_compare_table_level ----------------------------------- 39-16
39.15 _DMC_01_channel1_position_compare_table_cnt ------------------------------------- 39-17
39.16 _DMC_01_set_compare_channel_polarity ------------------------------------------------ 39-18
39.17 _DMC_01_channel0_position_cmp_by_gpio --------------------------------------------- 39-19
39.18 _DMC_01_channel1_position_re_compare_table --------------------------------------- 39-20
39.19 _DMC_01_channel1_position_re_compare_table_level ------------------------------- 39-20
Chapter 40 Linear and Arc Interpolation Motion Control API --------------------------------------40-1

40.1 _DMC_01_start_rline_xy -------------------------------------------------------------------------40-2
40.2 _DMC_01_start_rline_xyz -----------------------------------------------------------------------40-4
40.4 _DMC_01_start_v3_rline_xyz-------------------------------------------------------------------40-9
Chapter 41 Speed Continue API -----------------------------------------------------------------------------41-1

41.1 _DMC_01_speed_continue----------------------------------------------------------------------41-2
41.2 _DMC_01_speed_continue_mode ------------------------------------------------------------41-3
41.3 _DMC_01_speed_continue_combine_ratio -------------------------------------------------41-5
Revised March, 2012 xiii

Chapter 42 Other API--------------------------------------------------------------------------------------------42-1

42.1 _misc_app_get_circle_endpoint ----------------------------------------------------------------42-2
42.2 _misc_app_get_circle_center_point -----------------------------------------------------------42-3
42.3 _misc_set_record_debuging --------------------------------------------------------------------42-4
42.4 _misc_open_record_debuging_file ------------------------------------------------------------42-4
42.5 _DMC_01_enable_dda_mode ------------------------------------------------------------------42-5
42.6 _DMC_01_set_dda_data-------------------------------------------------------------------------42-6
42.7 _DMC_01_get_dda_cnt --------------------------------------------------------------------------42-6
xiv Revised March, 2012

Chapter 1 Introduction to the API Function Library | PCI-DMC-A01 / PCI-DMC-B01
Chapter 1 Introduction to the

API Function Library
PCI-DMC-A01 provides a function library and dynamic-link library (DLL) which can be called upon
to perform functions as you require. The following sections will detail how you can incorporate
these function libraries into your development environment.
1.1 Using the Function Libraries
Once you have installed the program you will find two libraries under the “lib” folder. These
libraries are intended for use in Visual Studio C or Borland development environments.
Table 1.1
PCI_DMC_01.lib Visual Studio C function

library
BCBPCI_DMC_01.lib Borland C function

library
1.2 Edit New Project
1.2.1 Using VC
1. Add the following command to your project:
# include “..\inc\VC\PCI_DMC_01.h”
# include “..\inc\VC\PCI_DMC_01_Err.h”
2. Under the Visual C development environment, select Project / Setting / Link
Under Object / Library modules, input “..\lib\PCI_DMC_01.lib”
3. Once set, you can begin using the API to control PCI-DMC-A01.
1.2.2 Using Borland C

1. Add the following command to your project:
# include “..\inc\BCB \PCI_DMC_01.h”
# include “..\inc\BCB\PCI_DMC_01_Err.h”
Revised March, 2012 1-1

Chapter 1 Introduction to the API Function Library | PCI-DMC-A01 / PCI-DMC-B01
2. Under the Borland C++ Build development environment, select View/ Project
Manager
Add the function library “..\lib\BCBPCI_DMC_01.lib” to your new project.
3. Once set, you can begin using the API to control PCI-DMC-A01.
1.2.3 Using VB
Under the installation directory “..\ \PCI-DMC-A01\inc\VB” you will find
“PCI_DMC_01.bas” and “PCI_DMC_01_Err.bas”. Add these two files to your new
project to use the API to control PCI-DMC-A01.
1.2.4 Using Delphi

Under the installation directory “..\ \PCI-DMC-A01\inc\Delphi” you will find
“PCI_DMC_01.pas”. Add this file to your new project to use the API to control
PCI-DMC-A01.
1.2.5 Using VB.Net

Under the installation directory “..\ \PCI-DMC-A01\inc\VB.Net” you will find
“PCI_DMC_01.vb” and “PCI_DMC_01_ERR.vb”. Add these two files to your new
project to use the API to control PCI-DMC-A01.
1.2.6 Using C#
In the installation directory “..\ \PCI-DMC-A01\inc\C#” you will find “PCI_DMC_01.css”
and “PCI_DMC_01_ERR.cs”. Add these two files to your new project to use the API to
control PCI-DMC-A01.
1-2 Revised March, 2012

Chapter 2 Command Return Values and Messages | PCI-DMC-A01 / PCI-DMC-B01
Chapter 2 Command Return Values

and Messages
2.1 Error Codes
When you use API for PCI-DMC-A01, the function library will generally return one of the
error codes listed in Table 2.1.
If the API function's return value is 0, then the API function was executed successfully. If
the API function returns some other error code, then an error may have occurred during
operation or in the hardware connection. You can troubleshoot the problem by referring to
the error code description.
Table 2.1
Error Return
Code Error Code Error Description
(Decimal)
0 ERR_NoError API executed successfully
Card number error. Please check the number set
3 ERR_CardNoError
by the DIP Switch on the card.
5 ERR_bootmodeErr Unable to boot DSP procedure
6 ERR_downloadcode DSP memory program read/write error
7 ERR_downloadinit DSP memory data read/write error
“_DMC_01_pci_initial” AP function must be
8 ERR_PCI_boot_first
launched first
11 ERR_AxisNoError Axis number error (too large)
12 ERR_IPO_First Must be in IPO mode
13 ERR_Target_reach Target must be in position for Mode 1 operation
14 ERR_Servo_on_first Must be set to Servo on
Unable to clear position in Manual Pulse
15 ERR_MPG_Mode
Generator (MPG) mode
Unable to return acknowledgement when sending
16 ERR_PDO_TG
command to module in PDO mode
17 ERR_ConfigFileOpenError Error opening configuration file
18 ERR_Ctrl_value Command code error
19 ERR_Security_Fifo Write error using Security Fpga
20 ERR_Security_Fifo_busy Security Fpga is busy

Error Return
(Decimal)
21 ERR_SpeedLimitError Defined velocity exceeds maximum velocity
22 ERR_Security_Page Security page must be smaller than 16
23 ERR_Slave_Security_op Security slave_operate command failed
24 ERR_channel_no channel no error
“_DMC_01_pci_initial” AP function must be
25 ERR_start_ring_first
launched first
26 ERR_NodeIDError NodeID does not exist
27 ERR_MailBoxErr DSP busy, unable to send command
28 ERR_SdoData SDO data sent, but no response received
29 ERR_IOCTL Operating system unable to process this IRP
30 ERR_SdoSvonFirst Servo On required to use SDO axis control
31 ERR_SlotIDError No such Slot ID for Slave module (GA or RM)
32 ERR_PDO_First PDO protocol mode required to use PDO protocol
33 ERR_Protocal_build Protocol, not built
34 ERR_Maching_TimeOut Module matching time-out
35 ERR_Maching_NG Module matching failed
40 ERR_Master_Security_Wr Security Master Write command failed
41 ERR_Master_Security_Rd Security Master Read command failed
42 ERR_Master_Security_Pw Correct password required
Master Card version error. Please contact
50 ERR_NonSupport_CardVer
distributor to purchase the correct Master Card
51 ERR_Compare_Source Ver Type: B Compare Source selection error
Compare direction error; dir must be set to 1 or 0
52 ERR_Compare_Direction
(1:ccw, 0:cw)
112 ERR_RangeError Axis number error
114 ERR_MotionBusy Motion command overlap
116 ERR_SpeedError Maximum velocity set to 0
ERR_AccTimeError Acceleration/deceleration time greater than 1000
117
sec
124 ERR_PitchZero Screw displacement parameter “pitch” set to 0
127 ERR_BufferFull Motion command buffer is full
128 ERR_PathError Motion command error
130 ERR_NoSupportMode Velocity change not supported
ERR_FeedHold_support Feedhold Stop enabled. Unable to receive new
132
commands

Error Return
(Decimal)
ERR_SDStop_On Currently executing deceleration/stop command,
133
Unable to receive new commands
ERR_VelChange_supper Unable to execute velocity change function
134
(Feedhold, Synch, and Deceleration)
135 ERR_Command_set Unable to repeat FeedHold command
ERR_sdo_message_choke Sdo command return error. Please check
136
network connection
ERR_VelChange_buff_feedh Feedhold function must be enabled first. Unable
137
old to change velocity
ERR_VelChange_sync_move Waiting for sync command, unable to change
138
velocity
ERR_VelChange_SD_On Waiting for decelerate command, unable to
139
change velocity
ERR_P_Change_Mode Single axis point to point mode. Acceleration
140 segment's velocity is 0. Non-single axis point to
point mode
When mode is
_Path_p_change,_Path_velocity_change_onfly,
141 ERR_BufferLength
_Path_Start_Move_2seg then Buffer Length
must be 0
142 ERR_2segMove_Dist Distance must be in same direction
143 ERR_CenterMatch Center must match
144 ERR_EndMatch Center must match
145 ERR_AngleCalcu Angle calculation error
146 ERR_RedCalcu Radius calculation error
147 ERR_GearSetting Gear numerator or denominator is 0
Table Setting First Array Point Error, Table
148 ERR_CamTable setting cannot be negative; table[-1] does not
exist
ERR_AxesNum Number of axes must be set to at least 2 for
149
multiple axes settings
150 ERR_SpiralPos Final position will be the center of the spiral

2.2 Error Code Example
The following example is a return function. You can use it as a reference to create new
functions that meet your control requirements.
 Example
Void error (unsigned short rc) // Function that returns error code; rc is the parsed return
value
{
Switch(rc)
{
Case 3:
printf(“Card No. Error, Please check Card No. again.”);
break;
default:
break;
}

Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01
Chapter 3 Operating Principles
3.1 Card Initialization
3.1.1 Function List
Table 3.1
Function Name
_DMC_01_open
_DMC_01_get_CardNo_seq
_DMC_01_check_card_running
_DMC_01_reset_card
_DMC_01_close
_DMC_01_pci_initial
_DMC_01_initial_bus
_DMC_01_start_ring
_DMC_01_get_device_table
_DMC_01_get_node_table
3.1.2 Sample Application

Program Appearance
Figure 3.1
1) Open card
Figure 3.2

Click on the “Open card” button to execute the following procedure:
/* gDMCExistCards variable is set as the number of PCI-DMC-A01 on the PC*/
rt = _DMC_01_open(&gDMCExistCards);
2) Card initialization
Figure 3.3
Click on the “Card init” button to execute the following procedure:

for(i=0; i<gDMCExistCards; i++)
{
/* Get the card number of the i-th card on the PC. Card number is the value set by
the DIP Switch*/
rt = _DMC_01_get_CardNo_seq(i, &CardNo);
gpDMCCardNoList[i] = CardNo;
/*Check to see if the card has been initialized. If the value is 0, then the card has not
been initialized .*/
rt = _DMC_01_check_card_running(gpDMCCardNoList[i], &running);
if(running == 0) {
rt = _DMC_01_pci_initial(gpDMCCardNoList[i]); // Initialize card
if(rt != 0) AfxMessageBox(“Can't boot PCI_DMC_01 Master Card!”);
}
rt = _DMC_01_initial_bus(gpDMCCardNoList[i]); // Initialization communications
protocol
gbpDSPBoot[gpDMCCardNoList[i]] = true;
}
3) Establish communications
Figure 3.4
Click on the “Find slave” button to execute the following procedure:

rt = _DMC_01_start_ring(gDMCCardNo, 0); // Begin communications
rt = _DMC_01_get_device_table(gDMCCardNo, &gpDeviceInfo[gDMCCardNo]);
rt = _DMC_01_get_node_table(gDMCCardNo, &gpSlaveTable[0][gDMCCardNo]);
Once the above procedure has been executed, the detected Slave device is
displayed in the “Slave num” field.

NOTE
_DMC_01_get_device_table  Get the Slot ID using the PDO protocol
Example: gpDeviceInfo[gDMCCardNo] is a “WORD” type variable. If its value is 7,
the binary form is expressed as “0000 0000 0000 0111”, so Slave devices with Slot
IDs “1”, “2” and “3” exist.
_DMC_01_get_node_table  Get Node ID using SDO protocol.
Example: gpSlaveTable[0][gDMCCardNo] is a “DWORD” type variable. If its value is
7, the binary form is expressed as “0000 0000 0000 0000 0000 0000 0000 0111”, so
Slave devices with Node ID “1”, “2”, and “3” exist.
※You can use the following algorithm to find the Node ID for SDO.
lMask = 0x1;
for(i=0; i<32; i++)
{
/* Condition is met when the i-th bit is 1. */
if((gpSlaveTable[0][gDMCCardNo]>>i) & lMask) {
/* The derived i-th value +1 is the Node ID and corresponds to servo parameter
“P3-00” */
gpNodeID[gNodeNum] = (unsigned short)(i+1);
gNodeNum++;
}
}
4) Exit procedure
Figure 3.5
Click on the “Exit” button to execute the following procedure:

for(i=0; i<gDMCExistCards; i++) {
rt = _DMC_01_reset_card(gpDMCCardNoList[i]); // Reset card
}
_DMC_01_close(); // Shut down PCI-DMC-A01

3.2 Read/Write Driver Parameters
3.2.1 Function List
Table 3.2
Function Name
_DMC_01_set_pdo_mode
_DMC_01_read_servo_parameter
_DMC_01_write_servo_parameter

Program Appearance
Figure 3.6
1) Card Initialization and Mode Switching
Figure 3.7
Click on “Open card” to execute card initialization and set SDO mode.
For detailed instructions on card initialization, please refer to the functions described
in Section 3.1 between “Open card” and “Establish communications”.
Setting the SDO mode will use the following API function:
/* Set Slave communications to SDO mode */

rt = _DMC_01_set_pdo_mode(gDMCCardNo, gpNodeID[i], SlotID, 0);

The last argument [Enable] is used to set whether PDO mode is used for Slave
communications or not. Please refer to the section on this function for a more
detailed description of this argument.
In the above example, the value of the argument is 0. This means PDO mode is
disabled during Slave communication.
If you set PDO mode to disabled, then Slave communications will use the SDO
protocol. If you need to use the SDO protocol to control the slave, you must set the
value of this argument to zero.
2) Input the servo to change (Including Node ID, Group No. and Index value)
Figure 3.8
For example, you can enter the values shown below in Fig. 3.8.
1st field - “Node ID”: If the value is 1, then it will operate the servo with Node ID 1.
2nd field - “Slot ID”: This field cannot be changed. It shows the current Slave
device (Servo's Slot ID is 0).
3rd Field - “Group”: Refers to the group number. of the device (usually a
servo). For a more detailed description of group number,
please refer to the “ASDA-A2 User Manual”. If Group is set to
0 as shown in Fig. 3.8, this means this will set the servo
parameter for “P0-xx” (the value of xx is explained below under
Index).
4th field - “Index”: As noted above, this value depends on the value for Group.
In Fig. 3.8, index has a value of 0 so in this case, read/write will
be carried on the “P0-00” parameter of Servo with Node ID of 1.
3) Read servo parameter
Figure 3.9
Click on the “Read” button to execute the following procedure:
rt = _DMC_01_read_servo_parameter(gDMCCardNo, NodeID, SlotID, group, idx,
&data);
// A data value will be returned. The value will be current value set for this servo
parameter.
// The value of rt will be displayed in the “RC” field while the value of data will be
displayed in the “Data” field.

4) Write servo parameter
Figure 3.10
As shown in Fig. 3.10, if you wish to write a parameter value to servo then you must
input the desired value in the edit box and then click on the “Write” button to execute
the following procedure:
rt = _DMC_01_write_servo_parameter(gDMCCardNo, NodeID, SlotID, group, idx,
data);
//The value will be written to the servo group parameter you set. Please refer to the
previous section for a detailed description.
5) Exit procedure
Click on the “Exit” button to quit and exit the procedure.
“_DMC_01_reset_card” and “_DMC_01_close” must be executed to exit this
function. Please refer to Section 3.12 “Exit procedure” for the function operations.

3.3 CANopen Protocol
3.3.1 Function List
Table 3.3
Function Name
_DMC_01_set_pdo_mode
_DMC_01_send_message
_DMC_01_read_message
_DMC_01_get_message

Program Appearance
Figure 3.11
1) Initialize card and set Slave communications to SDO mode.

Click on the “Open card” button shown in Fig. 3.11 to initialize card and set SDO
mode.
A description of this button is provided in Section 3.2.2 “Card Initialization and Mode
Switching”.
2) Send SDO protocol command
Figure 3.12

You input the value of the “NodeID”. The value will reflect the Slave ID you wish to
set up.
Please refer to th CANopen manual (DS 402) for setting the “Index”, “Sub” and
“Type” values.
The values “D0” to “D3” are used to input the SDO command data you wish to set
(Valid data: Byte).
Once you enter the above data, click on the “Send” button to execute the following
API function:
rt = _DMC_01_send_message(gDMCCardNo, NodeID, SlotID, Index, SubIdx,
DataType, Value0, Value1, Value2, Value3);
3) Command for reading SDO protocol
Figure 3.13
Click on the “Read” button to execute the following procedure:
/* Get the returned data for the last SDO command you sent*/
rt = _DMC_01_read_message(gDMCCardNo, &Cmd, & COBID, &DataType,
&Value0, &Value1, &Value2, &Value3);
You can create some variables to store the data returned by SDO commands. For
detailed description of the returned data, please see Section 8.8.
4) Command for getting SDO protocol
Figure 3.14
You must enter the corresponding Node ID, Object Dictionary (OD) index and
sub-index to get the information you want to know from the CANopen interface
protocol. Once you enter the data, click on the “Get” button to execute:
rt = _DMC_01_get_message(gDMCCardNo, NodeID, SlotID, Index, SubIndex,
&COBID, &Cmd , &DataType, &Value0, &Value1, &Value2, &Value3);
You can create some variables to store the data returned by SDO commands. For
detailed description of the returned data, please see Section 8.9.
5) Exit procedure

3.4 Homing Motion Control
3.4.1 Overview
Most application programs use an incremental encoder to retrieve position feedback. A
homing operation is essential to performing accurate motion control. After the power is
switched on, the status of the machine bench's position can be in one of three
states. First, position is stopped at the homing position awaiting the next command;
second, position is stopped at the ORG sensor; third, position is stopped somewhere
between ORG and Limit Switch (PEL and MEL). Please refer to the block diagram
in Fig. 3.15 below.
1 2 3
1
PEL O RG MEL
Figure 3.15
PCI-DMC-A01 provides different functions for each of the above conditions. For homing
mode in a normal position, PCI-DMC-A01 offers up to 35 different reset to home
functions (including the reserved part). The user can simply use software settings to
have the hardware perform the user-selected homing operation. Once the homing
motion is complete, the corresponding command and feedback position will be cleared
to 0. The target position will however not be cleared to 0. The following graph shows the
conditions for executing homing:
Figure 3.16

3.4.2 Function List
Table 3.4
Function Name
_DMC_01_set_home_config
_DMC_01_set_home_move
_DMC_01_escape_home_move

Program Appearance
Figure 3.17
1) Open card and initialization

Click on the “Initial” button to open and initialize the card.
For a detailed description of card initialization, please refer to “Open card” and “Card
initialization” in Section 3.1.2.

2) Enter the values of the arguments for motion control
Figure 3.18
NodeID item: API function's argument variable “NodeID”.

Timer Checkbox: Check to display the motion status. Uncheck to disable display.
Vel. item: Number of pulses per second. API function's argument variable
“MaxVel”.
Acc. item: Time required to reach maximum velocity. API function's argument
variable “acc”.
3) Set homing parameter (Homing mode and offset)
Figure 3.19
Mode item: Homing modes 1 to 35. API function's argument variable

“home_mode”.
Offset item: Homing offsetAPI function's argument variable “home_offset”.
4) Set Servo Motor Power ON/OFF(servo on/servo off)
Figure 3.20
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) Homing operation
See Fig. 3.20. Click on “Move” to begin executing the following procedure;
/* Set homing mode: 1~35, offset and velocity parameters */
rt = _DMC_01_set_home_config(gDMCCardNo, NodeID, SlotID, home_mode,
home_offset, StrVel, MaxVel, acc);
/* Start homing motion */
rt = _DMC_01_set_home_move(gDMCCardNo, NodeID, SlotID);
6) Stop homing motion

If you wish to stop the homing motion operation, you must hit the “STOP” button to
execute the following procedure:
/* Interrupt homing motion */
rt = _DMC_01_escape_home_move(gDMCCardNo, NodeID, SlotID);
7) Exit procedure

3.5 Torque Motion Control
3.5.1 Function List
Table 3.5
Function Name
_DMC_01_set_torque_mode
_DMC_01_set_torque
_DMC_01_set_torque_stop
_DMC_01_get_torque

Program Appearance
Figure 3.21
2) Set Servo Node ID and enable motion status display
Figure 3.22

Input Node ID and check the “Timer” checkbox to enable motion status display
NodeID item: API function argument variable “NodeID”.
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.
Figure 3.24

rt = _DMC_01_ipo_set_svon (gDMCCardNo, NodeID, SlotID , ON_OFF);
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.
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. */
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

7) Exit procedure

3.6 Velocity Motion Control (1)
3.6.1 Function List
Table 3.6
Function Name
_DMC_01_set_velocity_mode
_DMC_01_set_velocity
_DMC_01_set_velocity_stop
_DMC_01_get_rpm

Program Appearance
Figure 3.25
Figure 3.26

3) Enter the values for acceleration/deceleration time and rotations per minute (RPM)
Figure 3.27
Tacc item API function's argument variable “Tacc”.

Tdec item: API function's argument variable “Tdec”.
RPM item: API function's argument variable “rpm”.
※Actual RPM is 10% of rpm variable.
Figure 3.28

5) Velocity Motion Control

/* Set velocity mode parameter (value for acceleration and deceleration time)) */
rt = _DMC_01_set_velocity_mode(gDMCCardNo, NodeID, SlotID, Tacc, Tdec);
/* Start velocity mode motion */
rt = _DMC_01_set_velocity(gDMCCardNo, NodeID, SlotID, rpm);
// If value of RPM is greater than 0 then drive motor rotates clockwise. if value is less
than 0 then rotates counterclockwise.
Press the “STOP” button to execute velocity stop or not.

/* Set whether to stop velocity motion control. If stop value is 1 then velocity motion
stops. */
rt = _DMC_01_set_velocity_stop(gDMCCardNo, NodeID, SlotID, stop);

6) Display current RPM value

rt = _DMC_01_get_rpm (gDMCCardNo, NodeID, SlotID, & rpm);
// Value returned by RPM variableActual motion RPM is 10% of RPM variable value
7) Exit procedure

3.7 Velocity Motion Control (2)
3.7.1 Function List
Table 3.7
Function Name
_DMC_01_tv_move
_DMC_01_sv_move
_DMC_01_emg_stop

Program Appearance
Figure 3.29
Figure 3.30
Figure 3.31
StrVel item: Starting velocity. API function's argument variable “StrVel”.

MaxVel item: Maximum velocity. API function's argument variable “MaxVel”.
variable “acc”.
S-Curve checkbox: You must check this box if you wish to use the S-curve velocity
curve.

5) Start velocity motion control

Click on the “” or ““ button to execute the following procedure:
/* S-curve velocity curve */
rt = _DMC_01_sv_move(gDMCCardNo, NodeID, SlotID, StrVel, MaxVel, acc, 0);
/* T-curve velocity curve */
rt = _DMC_01_tv_move(gDMCCardNo, NodeID, SlotID, StrVel, MaxVel, acc, 0);
6) Stop motion
Hit the “STOP” button to execute an emergency stop:
rt = _DMC_01_emg_stop (gDMCCardNo, NodeID, SlotID);
In this example, emergency stop is used to stop motion. This method quickly stops
motion by setting deceleration time to 0. For more information about the Stop Motion
function, refer to the later section on “Stop Motion Control API”.
7) Exit procedure

3.8 Point to Point Motion Control
3.8.1 Overview
Point to point motion control can be used with single and multi-axes.
For single- or multi-axes point to point motion control, PCI-DMC-A01 absolute or
relative coordinate motion modes with a S-Curve or T-curve velocity cross-section.
P0 P1
Figure 3.32
Fig. 3.32 for example shows motion displacement from P0 to P1 along a single axis.
You can choose to use T-curve or S-curve motion modes based on relative or absolute
coordinates for motion displacement.
3.8.2 Function List
Table 3.8
Function Name
_DMC_01_ipo_set_svon
_DMC_01_start_tr_move
_DMC_01_start_sr_move
_DMC_01_start_ta_move
_DMC_01_start_sa_move
_DMC_01_sd_stop
_DMC_01_set_command
_DMC_01_set_position
_DMC_01_get_command
_DMC_01_get_position
_DMC_01_get_current_speed
_DMC_01_motion_status
DMC_01_motion_done


Program Appearance
Figure 3.33
Figure 3.34

Figure 3.35

variable “acc”.
Dec item: Time required to go from maximum velocity to 0. API function's argument
variable “dec”.
4) Select motion mode and set motion distance.
Figure 3.36
Abs. Checkbox: You must check this if you want motion displacement to use
absolute coordinates.
curve.
Dist. item: Motion distance. API function's argument variable “Distance”.
Figure 3.37


6) Start point to point motion control

rt = _DMC_01_start_sa_move(gDMCCardNo, NodeID, SlotID, Distance, StrVel,
MaxVel, acc, dec);
// Motion displacement using absolute coordinates with S-curve velocity
cross-section
rt = _DMC_01_start_ta_move(gDMCCardNo, NodeID, SlotID, Distance, StrVel,
MaxVel, acc, dec);
// Motion displacement using absolute coordinates with T-curve velocity
cross-section
rt = _DMC_01_start_sr_move(gDMCCardNo, NodeID, SlotID, Distance, StrVel,
MaxVel, acc, dec);
// Motion displacement using relative coordinates with S-curve velocity cross-section
rt = _DMC_01_start_tr_move(gDMCCardNo, NodeID, SlotID, Distance, StrVel,
MaxVel, acc, dec);
// Motion displacement using relative coordinates with T-curve velocity cross-section
7) Reset motion displacement counter (Command and Feedback)
Figure 3.38
Click on the “RESET” button to execute reset command:
/* If you wish to reset the command and feedback counters, you must first set drive
motor to "servo off" */
if(gbIsSVON)
rt = _DMC_01_ipo_set_svon(gDMCCardNo, NodeID, SlotID , 0);
/* The motion counters can only be cleared when the motor is confirmed to be
"servo off" */
rt = _DMC_01_set_command(gDMCCardNo, NodeID, SlotID, 0); // Clear command
rt = _DMC_01_set_position(gDMCCardNo, NodeID, SlotID, 0); // Clear feedback
/* Once the command and feedback counters are cleared, set drive motors to "servo
on" again */
if(gbIsSVON)

Motion counter value:
rt = _DMC_01_get_command(gDMCCardNo, NodeID, SlotID, &cmd);
// Get value of command counter
rt = _DMC_01_get_position(gDMCCardNo, NodeID, SlotID, &pos);
// Get value of feedback counter
Motion status:
rt = _DMC_01_get_current_speed(gDMCCardNo, NodeID, SlotID, &speed);
// Get velocity of current motion
rt = _DMC_01_motion_status(gDMCCardNo, NodeID, SlotID, &MC_status);
// Get current status
rt = _DMC_01_motion_done(gDMCCardNo, NodeID, SlotID, &MC_done);
// Get current motor status
8) Stop motion
Figure 3.39

9) Exit procedure

3.9 Linear Interpolation Motion Control
3.9.1 Overview
If you wish to use CANopen PDO protocol for motion control you must operate in the
CANopen IP mode.
PCI-DMC-A01 supports 2~3 axis linear interpolation in absolute or relative coordinate
motion modes under the S-curve or T-curve velocity cross-section.
2-axis linear interpolation is as shown in Fig. 3.30.

This is a straight line that starts and P0 and ends at P1 in 2 dimensions.
Velocity is the vector speeds (dX:dY) along the X and Y axes as shown in Fig. 3.37:
P1(X1,Y1)
dY
P0(X0,Y0) dX
Figure 3.40
3.9.2 Function List
Table 3.9
Function Name
_DMC_01_start_tr_move_xy
_DMC_01_start_sr_move_xy
_DMC_01_start_ta_move_xy
_DMC_01_start_sa_move_xy
_DMC_01_start_tr_move_xyz
_DMC_01_start_sr_move_xyz
_DMC_01_start_ta_move_xyz
_DMC_01_start_sa_move_xyz
_DMC_01_sd_stop


Program Appearance
Figure 3.41
Click on the “Initial” button to start card initialization.
For a detailed description of card initialization, please refer to Section 3.1.2 - 1)
Open card.
2) Get Slot ID and enable motion status display
Figure 3.42
Check the “Timer” checkbox to enable motion status display


Figure 3.43

variable “acc”.
variable “dec”.
Figure 3.44
curve.
Figure 3.45


6) Start motion control with linear interpolation in 2 or 3 axes

2-axis linear interpolation:

rt = _DMC_01_start_sa_move_xy(gDMCCardNo, gLine2, gSlot2, Distance,
Distance, StrVel, MaxVel, acc, dec);
//// Linear interpolation motion using absolute coordinates with S-curve velocity
cross-section
rt = _DMC_01_start_ta_move_xy(gDMCCardNo, gLine2, gSlot2, Distance,
Distance, StrVel, MaxVel, acc, dec); //// Linear interpolation motion using absolute
coordinates with T-curve velocity cross-section
rt = _DMC_01_start_sr_move_xy(gDMCCardNo, gLine2, gSlot2, Distance,
Distance, StrVel, MaxVel, acc, dec);
//// Linear interpolation motion using relative coordinates with S-curve velocity
cross-section
rt = _DMC_01_start_tr_move_xy(gDMCCardNo, gLine2, gSlot2, Distance, Distance,
StrVel, MaxVel, acc, dec); //// Linear interpolation motion using relative coordinates
with T-curve velocity cross-section
3-axis linear interpolation:

rt = _DMC_01_start_sa_move_xyz(gDMCCardNo, gLine3, gSlot3, Distance,
Distance, Distance, StrVel, MaxVel, acc, dec);
//// Linear interpolation motion using absolute coordinates with S-curve velocity
cross-section
rt = _DMC_01_start_ta_move_xyz(gDMCCardNo, gLine3, gSlot3, Distance,
//// Linear interpolation motion using absolute coordinates with T-curve velocity
cross-section
rt = _DMC_01_start_sr_move_xyz(gDMCCardNo, gLine3, gSlot3, Distance,
//// Linear interpolation motion using relative coordinates with S-curve velocity
cross-section
rt = _DMC_01_start_tr_move_xyz(gDMCCardNo, gLine3, gSlot3, Distance,
//// Linear interpolation motion using relative coordinates with T-curve velocity
cross-section

7) Stop motion
Figure 3.46

8) Exit procedure

3.10 Arc Interpolation Motion Control
3.10.1 Overview
PCI-DMC-A01 supports 2-axis arc interpolation in absolute or relative coordinate
motion modes under the S-curve or T-curve velocity cross-section. Fig. 3.44 illustrates
arc interpolation on any 2 axes.
The start point is P0 (X0, Y0) and end point is P1(X1, Y1). The path from P0 to P1
forms an arc. The maximum velocity is the tangential velocity.
P0
Cent P1
Figure 3.47
3.10.2 Function List
Table 3.10
Function Name
_DMC_01_start_tr_arc_xy
_DMC_01_start_sr_arc_xy
_DMC_01_start_ta_arc_xy
_DMC_01_start_sa_arc_xy
_DMC_01_start_tr_arc2_xy
_DMC_01_start_sr_arc2_xy
_DMC_01_start_ta_arc2_xy
_DMC_01_start_sa_arc2_xy
_DMC_01_start_tr_arc3_xy
_DMC_01_start_sr_arc3_xy
_DMC_01_start_ta_arc3_xy
_DMC_01_start_sa_arc3_xy


Program Appearance
Figure 3.48
Figure 3.49

Figure 3.50

variable “acc”.
variable “dec”.
curve.
4) Select the type of 2-axis arc interpolation and enter the corresponding values
Figure 3.51
Arc 1: Interpolation method 1. Must provide the center coordinates (X, Y) and angle
(0o to 359o)
➊ Cen_X item: Center's x-coordinate. API function's argument variable
“arc1_cen_x”.
Cen_Y item: Center's y-coordinate. API function's argument variable
“arc1_cen_y”.
Angle item: Angle. API function's argument variable “arc1_angle”.
Arc 2: Interpolation method 2. Must enter the endpoint coordinates (X, Y) and angle
(0o to 359o)
➋ End_X item: Endpoint's x-coordinate. API function's argument variable
“arc2_end_x”.
End_Y item: Endpoint's Y-coordinate. API function's argument variable
“arc2_end_y”.
Angle item: Angle. API function's argument variable “arc2_angle”.
Arc 3: Interpolation method 3. Must provide the center coordinates (X, Y), endpoint
coordinates (X, Y) and direction.

➌ Cen_X item: Center's x-coordinate. API function's argument variable
“arc3_cen_x”.
Cen_Y item: Center's y-coordinate. API function's argument variable
“arc3_cen_y”.
End_X item: Endpoint's x-coordinate. API function's argument variable
“arc3_end_x”.
End_Y item: Endpoint's Y-coordinate. API function's argument variable
“arc3_end_y”.
Dir item: Direction. API function's argument variable “arc3_dir”.
When this value is 0, the servo motor will rotate clockwise (CW).
When this value is 1, the servo motor will counterclockwise (CCW).
Figure 3.52
6) Start 2-axis arc interpolation motion control
2-axis arc interpolation using interpolation method 1 (Arc1):
rt = _DMC_01_start_sa_arc_xy(gDMCCardNo, gArcNode, gSlot2, arc1_cen_x,
arc1_cen_y, arc1_angle, StrVel, MaxVel, acc, dec);
// Arc interpolation motion using absolute coordinates under the S-curve velocity
cross-section
rt = _DMC_01_start_ta_arc_xy(gDMCCardNo, gArcNode, gSlot2, arc1_cen_x,
// Arc interpolation motion using absolute coordinates under the T-curve velocity
cross-section
rt = _DMC_01_start_sr_arc_xy(gDMCCardNo, gArcNode, gSlot2, arc1_cen_x,
// Arc interpolation motion using relative coordinates under the S-curve velocity
cross-section
rt = _DMC_01_start_tr_arc_xy(gDMCCardNo, gArcNode, gSlot2, arc1_cen_x,
// Arc interpolation motion using relative coordinates under the T-curve velocity
cross-section

2-axis arc interpolation using interpolation method 2 (Arc2).
rt = _DMC_01_start_sa_arc2_xy(gDMCCardNo, gArcNode, gSlot2, arc2_end_x,
arc2_end_y, arc2_angle, StrVel, MaxVel, acc, dec);
cross-section
rt = _DMC_01_start_ta_arc2_xy(gDMCCardNo, gArcNode, gSlot2, arc2_end_x,
cross-section
rt = _DMC_01_start_sr_arc2_xy(gDMCCardNo, gArcNode, gSlot2, arc2_end_x,
cross-section
rt = _DMC_01_start_tr_arc2_xy(gDMCCardNo, gArcNode, gSlot2, arc2_end_x,
cross-section
2-axis arc interpolation using interpolation method 3 (Arc3):
rt = _DMC_01_start_sa_arc3_xy(gDMCCardNo, gArcNode, gSlot2, arc3_cen_x,
arc3_cen_y, arc3_end_x, arc3_end_y, arc3_dir, StrVel, MaxVel, acc, dec);
cross-section
rt = _DMC_01_start_ta_arc3_xy(gDMCCardNo, gArcNode, gSlot2, arc3_cen_x,
cross-section
rt = _DMC_01_start_sr_arc3_xy(gDMCCardNo, gArcNode, gSlot2, arc3_cen_x,
cross-section
rt = _DMC_01_start_tr_arc3_xy(gDMCCardNo, gArcNode, gSlot2, arc3_cen_x,
cross-section
7) Stop motion
Figure 3.53

8) Exit procedure

3.11 Spiral Interpolation Motion Control -Helix
Table 3.11
Function Name
_DMC_01_start_tr_heli_xy
_DMC_01_start_sr_heli_xy
_DMC_01_start_ta_heli_xy
_DMC_01_start_sa_heli_xy

Program Appearance
Figure 3.54

Figure 3.55
Below motion status is the “RESET” button. Click on the “RESET” button to execute
the reset command.
/* If you wish to reset the command and feedback counters, you must first set drive
motor to "servo off" */
if(gbIsSVON)
/* The motion counters can only be cleared when the motor is confirmed to be
"servo off" */
rt = _DMC_01_set_command(gDMCCardNo, NodeID, SlotID, 0); // Clear command
rt = _DMC_01_set_position(gDMCCardNo, NodeID, SlotID, 0); // Clear feedback
/* Once the command and feedback counters are cleared, set drive motors to "servo
on" again */
if(gbIsSVON)
Motion counter value:
rt = _DMC_01_get_command(gDMCCardNo, NodeID, SlotID, &cmd);
// Get value of command counter
rt = _DMC_01_get_position(gDMCCardNo, NodeID, SlotID, &pos);
// Get value of feedback counter
Motion status:
rt = _DMC_01_get_current_speed(gDMCCardNo, NodeID, SlotID, &speed);
// Get velocity of current motion

rt = _DMC_01_motion_status(gDMCCardNo, NodeID, SlotID, &MC_status);
// Get current status
rt = _DMC_01_motion_done(gDMCCardNo, NodeID, SlotID, &MC_done);
// Get current motor status
3) Enter the argument values and chosen velocity cross-section for motion control
Figure 3.56
variable “acc”.
variable “dec”.
Cen_X item: Center's x-coordinate. API function's argument variable “helix_cen_x”.
Cen_Y item: Center's y-coordinate. API function's argument variable “helix_cen_y”.
Depth item: Total distance of 3rd axis. (See Fig. 3.55).
Pitch item: Distance in the 3rd axis when one revolution is completed in axis-1 and
axis-2.
Dir item: The direction of the arc path in axis-1 and axis-2 (0: Clockwise; 1:
Counterclockwise).
curve.

Figure 3.57
Figure 3.58

5) Start spiral interpolation motion control

rt = _DMC_01_start_sa_heli_xy(gDMCCardNo, gHelix, gSlot3, helix_cen_x,
helix_cen_y, helix_depth, helix_pitch, helix_dir, StrVel, MaxVel, acc, dec);
//// Spiral interpolation motion using absolute coordinates with S-curve velocity
cross-section
rt = _DMC_01_start_ta_heli_xy(gDMCCardNo, gHelix, gSlot3, helix_cen_x,
//// Spiral interpolation motion using absolute coordinates with T-curve velocity
cross-section
rt = _DMC_01_start_sr_heli_xy(gDMCCardNo, gHelix, gSlot3, helix_cen_x,
//// Spiral interpolation motion using relative coordinates with S-curve velocity
cross-section
rt = _DMC_01_start_tr_heli_xy(gDMCCardNo, gHelix, gSlot3, helix_cen_x,
//// Spiral interpolation motion using relative coordinates with T-curve velocity
cross-section

6) Stop motion
7) Exit procedure

3.12 Continuous Interpolation Motion Control
3.12.1 Overview
A series of motion commands can be used to describe a square path with rounded
corners.
PCI-DMC-A01 supports using the 20-unit software FIFO in Motion ASIC for motion
control during continuous interpolation. Please refer to the following diagram:
System Command Motor
Program Read Displacement
Get buffer FIFO FIFO FIFO Execute FIFO
length No 19 No 18 No 1 No 0
Figure 3.59
Table 3.12
Function Name
_DMC_01_start_ta_move_xy
_DMC_01_start_ta_arc_xy


If you wish to perform the continuous interpolation motion illustrated below, you must
execute the following procedure and carry out the commands from ➀ ~ ➇:
Figure 3.60
Program Appearance
Figure 3.61

Figure 3.62

Figure 3.63

variable “acc”.
variable “dec”.
4) Enter edge length and corner radius
Figure 3.64
Edge item: Edge length (Unit: Pulses), API function's argument variable “edge”.
Radius item: Corner radius (Unit: Pulses), API function's argument variable
“radius”.

Figure 3.65

6) Click on the “Move” button to start executing continuous interpolation motion

The following procedures ➀~➇ will realize the continuous interpolation motion
shown in Fig. 3.60. t
➀ rt = _DMC_01_start_ta_move_xy(gDMCCardNo, gLine2, gSlot2, 0, edge, 0,
radius, 0.1, 0); // Deceleration set to 0
➁ rt = _DMC_01_start_ta_arc_xy(gDMCCardNo, gLine2, gSlot2, radius, edge, 90,
0, radius, 0, 0); // Acceleration and deceleration set to 0
➂ rt = _DMC_01_start_ta_move_xy(gDMCCardNo, gLine2, gSlot2, edge + radius,
edge + radius, 0, radius, 0, 0); // Acceleration and deceleration set to 0
➃ rt = _DMC_01_start_ta_arc_xy(gDMCCardNo, gLine2, gSlot2, edge + radius,
edge, 90, 0, radius, 0, 0); // Acceleration and deceleration set to 0
➄ rt = _DMC_01_start_ta_move_xy(gDMCCardNo, gLine2, gSlot2, edge +
radius*2, 0, 0, radius, 0, 0); // Acceleration and deceleration set to 0
➅ rt = _DMC_01_start_ta_arc_xy(gDMCCardNo, gLine2, gSlot2, edge + radius, 0,
90, 0, radius, 0, 0); // Acceleration and deceleration set to 0.
➆ rt = _DMC_01_start_ta_move_xy(gDMCCardNo, gLine2, gSlot2, radius, 0 -
radius, 0, radius, 0, 0); // Acceleration and deceleration set to 0
➇ rt = _DMC_01_start_ta_arc_xy(gDMCCardNo, gLine2, gSlot2, radius, 0, 90, 0,
radius, 0, 0.1); // Acceleration set to 0

V-T diagram of actual X-axis motion:
Figure 3.66
7) Stop motion
8) Exit procedure

3.13 Software Limit Control
Table 3.13
Function Name
_DMC_01_set_soft_limit
_DMC_01_enable_soft_limit
_DMC_01_disable_soft_limit
_DMC_01_get_soft_limit_status

Program Appearance
Figure 3.67

Open card.
Figure 3.68
Input Node ID and check “Timer” checkbox to enable motion status display
Figure 3.69
variable “acc”.
variable “dec”.
Figure 3.70
curve.

5) Set positive/negative value limit, stop motion mode, and whether software limit is
enabled
Figure 3.71
N-Limit item: Value of negative limit. API function's argument variable “NLimit”.
P-Limit item: Value of positive limit. API function's argument variable “PLimit”.
Stop mode pull-down menu: Stop mode. API function's argument variable
“action”.
Soft-limit Checkbox: Enables/disables software limit.
6) If software limit is enabled, you must check the “Soft-limit Enable” checkbox and
/* Start software limit configuration */
rt = _DMC_01_enable_soft_limit(gDMCCardNo, NodeID, SlotID, action);
// action argument specifies the stop mode to use when limit is reached. A value of 1
means an emergency stop; A value of 2 means a slow down stop.
/* Set the values for positive and negatives */
rt = _DMC_01_set_soft_limit(gDMCCardNo, NodeID, SlotID, PLimit, NLimit);
// PLimit argument is the set value for positive limit; NLimit is the set value for
negative limit
7) To disable software limit, you must use the following procedure:

rt = _DMC_01_disable_soft_limit(gDMCCardNo, NodeID, SlotID);
Figure 3.72

9) Start motion control (Using point to point motion control as an example)

MaxVel, acc, dec); // Motion displacement using absolute coordinates with S-curve
velocity cross-section
MaxVel, acc, dec); // Motion displacement using absolute coordinates with T-curve
MaxVel, acc, dec); // Motion displacement using relative coordinates with S-curve
MaxVel, acc, dec); // Motion displacement using relative coordinates with T-curve
10) If you wish to observe the contact with positive/negative limits during point to point
motion control, you can execute the following procedure:
/* Observe feedback status from contact with positive/negative limits*/
rt = _DMC_01_get_soft_limit_status(gDMCCardNo, NodeID, SlotID, &PLimit_sts,
&NLimit_sts);
In the figure below, the left side indicates no contact with positive/negative limits
during motion; the center indicates contact with positive limit during motion; the right
side indicates contact with negative limit during motion.
Figure 3.73
11) Stop motion
12) Exit procedure


3.14 Synchronization Motion Control
Table 3.14
Function Name
_DMC_01_sync_move
_DMC_01_sync_move_config

Program Appearance
Figure 3.74

2) Choose whether to enable synchronization motion control
Figure 3.75
Sync. Enable checkbox: Enable motor sync or not.

You can execute the following procedure to enable sync motion:
rt = _DMC_01_sync_move_config(gDMCCardNo, gpNodeID[i], SlotID, enable);
// If enable argument is 1, then synchronized motion control is enabled.
Figure 3.76
Figure 3.77
variable “acc”.
variable “dec”.

Figure 3.78
curve.

// ON_OFF: 0 – Servo Power OFF; 1 – Servo Power ON.
7) Click on the “” or ““ button to execute point to point single-axis motion command.
As you have only set up motion in one axis, this motion will not be executed right
away. You must go back to 3) Set Servo Node ID to set the motion commands for
other axes first. Once the setting have been completed, click on the “Syn. Move”
button to execute synchronized motion control command.
Figure 3.79
The synchronized motion control command is executed as shown in the following

function:
rt = _DMC_01_sync_move(gDMCCardNo);
// After synchronized motion control is complete, the synchronized motion control
setting will be disabled. If you wish to use the synchronized motion control
command again, you must re-enable synchronized motion control.

8) Stop motion
9) Exit procedure

3.15 Dwell Command
Table 3.15
Function Name
_DMC_01_buf_dwell

Program Appearance
Figure 3.80
Figure 3.81

SlotID item: API function's argument variable “slotID”.
Dwell cnt. item: Enter the delay time (Mini Sec) between the execution of two API
functions.

3) In the following example, adding the dwell command between continuous motion
commands will ensure the execution of continuous motion:
rt = _DMC_01_buf_dwell(CardNo, NodeID, SlotID, dwell_cnt);
//Set the dwell buffer interval. If dwell_cnt is 0 the delay is 4ms; In this example, the
value is 3
so delay is 2*3+2=8ms
Figure 3.82


Click on the “Move” button to execute the following procedure:
6) Stop motion
7) Exit procedure

3.16 Change Position
Table 3.16
Function Name
_DMC_01_p_change

Program Appearance
Figure 3.83
Figure 3.84
Figure 3.85

variable “acc”.
variable “dec”.
Dist. item: Set motion distance. API function's argument variable “Distance”.
4) Enter value of new position.
Figure 3.86
New Position item: Enter value of new position. API function's argument variable
“NewPos”.



7) If you want to change position of current motion to a new position, you must click on
“P change” to execute the following procedure:
rt = _DMC_01_p_change (CardNo, NodeID, SlotID, NewPos);
// Replaces the current position with a new position value
8) Stop motion
9) Exit procedure

3.17 Change Position
Table 3.17
Function Name
_DMC_01_v_change

Program Appearance
Figure 3.87

Figure 3.88
Figure 3.89

variable “acc”.
variable “dec”.
2) Enter value of new velocity
Figure 3.90
New Velocity item: Enter value of new velocity. API function's argument variable
“NewSpeed”.



7) If you want to change velocity of current motion to a new velocity, you must click on
“V change” to execute the following procedure:
rt = _DMC_01_v_change (CardNo, NodeID, SlotID, NewSpeed, sec);
// Replace current velocity with new velocity
8) Stop motion
9) Exit procedure

3.18 Change Velocity
Table 3.18
Function Name
_DMC_01_start_sa_move_2seg
_DMC_01_start_ta_move_2seg
_DMC_01_start_sr_move_2seg
_DMC_01_start_tr_move_2seg

Program Appearance
Figure 3.91

Figure 3.92
Figure 3.93

variable “acc”.
variable “dec”.
Figure 3.94
curve.

5) Set distance and velocity for 2nd motion
Figure 3.95
2 nd dist item: Value of distance for 2nd motion. API function's argument variable
“Dist2”.
2 nd vel item: Value of velocity for 2nd motion. API function's argument variable
“MaxVel2”.


8) If you wish to change the current motion velocity to a new velocity, please click on
the “2 nd seg.” button to execute the following procedure:
rt = _DMC_01_start_sa_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
MaxVel, MaxVel2, Tacc, Tsec, Tdec);
// 2nd motion displacement using absolute coordinates with S-curve velocity
cross-section
rt = _DMC_01_start_ta_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
// 2nd motion displacement using absolute coordinates with T-curve velocity
cross-section
rt = _DMC_01_start_sr_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
// 2nd motion displacement using relative coordinates with S-curve velocity
cross-section
rt = _DMC_01_start_tr_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
// 2nd motion displacement using relative coordinates with T-curve velocity
cross-section
9) Stop motion
10) Exit procedure


3.19 Remote I/O Module-I/O Port
Table 3.19
Function Name
_DMC_01_set_rm_input_filter
_DMC_01_set_rm_input_filter_enable
_DMC_01_set_rm_output_value_error_handle
_DMC_01_get_slave_version
_DMC_01_get_devicetype
_DMC_01_set_rm_output_value
_DMC_01_get_rm_input_value

Program Appearance
Figure 3.96

2) When setting the ASD-DMC-RM32MN module initialization parameters, you must

rt = _DMC_01_set_rm_input_filter(gDMCCardNo, gpNodeID[gNodeNum], 0, port,
filter);
// The port variable can be set to the 2 ports on the remote module. A value of 0
corresponds to Port 0 on the module. A value of 1 corresponds to Port 1. The filter
variable sets the level of the software filter. A value of 0 means software filter time is
1 ms; a value of 1 means filter time becomes 2 ms, and so on.
rt = _DMC_01_set_rm_input_filter_enable(gDMCCardNo, gpNodeID[gNodeNum], 0,
port, filter_enable);
// The filter_enable variable has range of 0~0xFFFF. It is used to control the
software filter mask for bit 0 to bit 15 on the Port.
3) To set the ASD-DMC-RM32NT module initialization parameters, you can execute

the following procedure:
rt = _DMC_01_get_rm_output_value(gDMCCardNo, gpNTNode[gNTNodeNum], 0,
port, &value);
// The value variable shows the number of signals that the RM32NT module is
outputting on that port.
4) Get slave device type

To get the type of this slave device, you must execute the following procedure:
rt = _DMC_01_get_devicetype(gDMCCardNo, NodeID, SlotID, &DeviceType,
&IdentityObject);
For a detailed description of this function, please refer to the section on “Slave
Information API”.
5) Digital Input (DI) and Digital Output (DO) operation

When you wish to perform DO operations, you must use the ASD-DMC-RM32NT
module and execute the following procedure:
/* Set the value of DO Port 0 */
rt = _DMC_01_set_rm_output_value(gDMCCardNo, NodeID, SlotID, 0,
output_value[0]);
// The Output_value[0] variable will store the value to be output for bit 0 to bit 15 of
Port 0
/* Set the value of DO Port 1 */
rt = _DMC_01_set_rm_output_value(gDMCCardNo, NodeID, SlotID, 1,
output_value[1]);

// The Output_value[1] variable will store the value to be output for bit 0 to bit 15 of
Port 1
/* Enable output */
rt = _DMC_01_set_rm_output_active(gDMCCardNo, NodeID, SlotID, Enable);
//This function must be enabled before the output value set above can be outputted
from the output port.
If you wish to get the data you sent through the DO module on the DI side, you must
use the ASD-DMC-RM32MN module and execute the following procedure:
/* Get value of DI Port 0 */
rt = _DMC_01_get_rm_input_value(gDMCCardNo, NodeID, SlotID, 0,
&input_value[0]);
// The Input_value[0] value will return the data from bit 0 to bit 15 of Port 0.
/* Get value of DI Port 1 */

rt = _DMC_01_get_rm_input_value(gDMCCardNo, NodeID, SlotID, 1,
&input_value[1]);
// The Input_value[1] value will return the data from bit 0 to bit 15 of Port 1.
Data cannot be retrieved from Port 0 of ASD-DMC-RM32MN module, as shown in

the following figure. In Port 1 bit 0 is ON and the remaining bits are OFF.
Figure 3.97
6) Maintain output port's output status (value)

To maintain the current output until power to the module is turned off, use the
following procedure:
rt = _DMC_01_set_rm_output_value_error_handle(gDMCCardNo,
gpNodeID[gNodeNum], 0, port, gErrorHandle);
// The port variable can be set to the 2 ports on the remote module. A value of 0
corresponds to Port 0 on the module. A value of 1 corresponds to Port 1. The value
of the gErrorHandle variable determines whether the system should retain the
incorrect output value in the event of an error. If the value is 1, system will retain the
output value until module is powered off or removed; if value is 0, then the incorrect
output will be reset to 0.

3.20 Remote I/O Module- Manual Pulse Generator (1)
Table 3.20
Function Name
DMC_01_get_rm_input_value
_DMC_01_set_rm_mpg_axes_enable
_DMC_01_set_rm_mpg_axes_enable2

Program Appearance
Figure 3.98
Figure 3.99

3) Enter parameter value of manual pulse control.
Figure 3.100
MN ID item: API function's argument variable “MNNodeID”.

Ratio item: Ratio between each MPG rotation and motor rotation. API function's
argument variable “ratio”.
Slope item: MPG speed slope. API function's argument variable “slope“.
Deno item: Denominator for motor rotations per MPG revolution. API function's
argument variable denominator”.
Pulse ratio item: Ratio of pulses per MPG revolution. API function's argument
variable “pulse_ratio”.

5) If you wish to execute “Manual Motion Control 1”, you must check the “MPG”
checkbox and execute the following procedure:
rt = _DMC_01_get_rm_input_value(CardNo, NodeID, SlotID, Port, &Value);
// Retrieve the value for bit 0 to bit 15 of the remote I/O module's input port
rt = _DMC_01_set_rm_mpg_axes_enable(CardNo, MasterNodeID, MasterSlotID,
NodeID, SlotID, enable, pulser_ratio, ratio, slope); // Manual motion control 1
If you wish to execute “Manual Motion Control 2”, you must check the “MPG2”
checkbox and execute the following procedure:
rt = _DMC_01_set_rm_mpg_axes_enable2(CardNo, MasterNodeID, MasterSlotID,
NodeID, SlotID, enable, pulser_ratio, ratio, slope, denominator);
// Manual motion control 2. ratio is the numerator for motor rotations per revolution;
denominator is the denominator for motor rotations per revolution; These two
parameters can be used to customize the MPG outputs.

6) Stop manual position control

If you wish to stop using the MPG, simply uncheck the “MPG” or “MPG2”
checkboxes.
7) Reset SERVON status

If you wish to reset the SERVON status, you must uncheck the “MPG” or “MPG2”
checkboxes then click on the “RESET” button to execute the following procedure:
rt = _DMC_01_set_command(gDMCCardNo, NodeID, SlotID, 0);
// Reset Command to 0
rt = _DMC_01_set_position(gDMCCardNo, NodeID, SlotID, 0);
// Reset Position to 0
8) Exit procedure

3.21 Remote I/O Module- Manual Pulse Generator (2)
Table 3.21
Function Name
_DMC_01_get_rm_input_value
_DMC_01_set_rm_mpg_axes_enable
_DMC_01_set_rm_jog_axes_enable

Program Appearance
Figure 3.101

Figure 3.101
Enter Node ID and check “Timer” checkbox to enable motion status display
NNID item: API function's argument variable “slotID”.
Timer command checkbox: Click to display motion status. Click again to turn off
display.
3) Enter parameter value of manual pulse control.
Figure 3.102
MN ID item: API function's argument variable “MNNodeID”.

Ratio item: Ratio between each MPG rotation and motor rotation. API function's
argument variable “ratio”.
Slope item: MPG speed slope. API function's argument variable “slope”.
Pulse ratio item: Ratio of pulses per MPG revolution. API function's argument
variable “pulse_ratio”.
4) Enter the argument values for Jog control
Figure 3.103
Jog spd item: Set the Jog speed. API function's argument variable “jog_speed”.
Jog mode item: Choose JOG axis. API function's argument variable “jog_mode”.
5) Set Servo Motor Power ON/OFF (servo on/servo off)


6) If you wish to use the MPG function, you must check the “MPG” checkbox and
rt = _DMC_01_get_rm_input_value(CardNo, NodeID, SlotID, Port, &Value);
// Retrieve the value for bit 0 to bit 15 of the remote I/O module's input port
rt = _DMC_01_set_rm_mpg_axes_enable(CardNo, MasterNodeID, MasterSlotID,
NodeID, SlotID, enable, pulse_ratio, ratio, slope);
7) If you wish to use the JOG function, you must check the “Jog” checkbox and
rt = _DMC_01_set_rm_jog_axes_enable (CardNo, MasterNodeID, MasterSlotID,
NodeID, SlotID, enable, jog_mode, jog_speed, sec); // Execute JOG motion
control
8) Stop MPG and JOG motion control

If you wish to stop MPG or JOG motion control, please uncheck the “MPG” or “JOG”
checkboxes to stop their motion control.
9) Reset SERVON status

If you wish to reset the SERVON status, you must uncheck the “MPG” or “JOG”
checkboxes then click on the “RESET” button to execute the following procedure:
rt = _DMC_01_set_command(gDMCCardNo, NodeID, SlotID, 0);
// Reset Command to 0
rt = _DMC_01_set_position(gDMCCardNo, NodeID, SlotID, 0);
// Reset Position to 0
10) Exit procedure


3.22 Remote Pulse Interface Module -Mode 1
Table 3.22
Function Name
_DMC_01_get_buffer_length
_DMC_01_get_servo_DI
_DMC_01_get_servo_DO
_DMC_01_rm_04pi_md1_get_soft_limit_status
_DMC_01_set_rm_04pi_ipulse_mode
_DMC_01_set_rm_04pi_opulse_mode
_DMC_01_rm_04pi_md1_set_soft_limit
_DMC_01_set_rm_04pi_svon_polarity
_DMC_01_rm_04pi_md1_v_move
_DMC_01_rm_04pi_md1_start_move
_DMC_01_set_rm_04pi_DO2
_DMC_01_rm_04pi_md1_p_change
_DMC_01_rm_04pi_md1_v_change


Program Appearance
Figure 3.104
Figure 3.105

Figure 3.106
variable “acc”.
variable “dec”.
curve.
Continue checkbox: Check if you wish to use the Continue motion mode.
Figure 3.107
Power On checkbox: Click Power On to turn on power to that axis.

H/L Checkbox: Select active voltage level.
Output Mode item: Output phase is either ABphase or CW/CCW.
Ralm item: Resets alarm error codes produced during operation.
Reset item: Reset Command and feedback data.

5) Set Home motion mode and offset:
Figure 3.108
Mode item: Select Home motion mode. API function's argument variable
“home_mode”.
Offset item: Set Home motion offset. API function's argument variable
“home_offset”.
6) Set positive/negative value limit; enable/disable software limit, and whether to touch
software limit or not;
Figure 3.109
P-Limit item: Value of positive limit. API function's argument variable “PLimit”.
N-Limit item: Value of negative limit. API function's argument variable “NLimit”.
Soft-limit Checkbox: Enables/disables software limit.
P Limit limit: Display contact with positive software limit is “ON”.
N Limit item: Display contact with negative software limit is “ON”.
7) Set new position value and execute change of position:
Figure 3.110
New Pos item: Value of new position. API function's argument variable “NewPos”.
PCh item: Enable position change.

8) Set the new velocity, deceleration time and enable position change for new position.
Figure 3.110
New Vel item: Set new velocity. API function's argument variable “NewSpeed”.
sec item: Set acceleration/deceleration time. API function's argument variable
“sec”.
PCh item: Enable position change.
Figure 3.111
Click on the “POWERON” button to execute the following procedure:

10) Start motion control (using point to point motion control as an example)
Figure 3.112

rt = _DMC_01_rm_04pi_md1_start_move (CardNo, NodeID, SlotID, Dist, StrVel,
MaxVel, Tacc, Tdec, m_curve, m_r_a); // Carry out motion displacement

11) Enable software limit
Figure 3.113
If you wish to use the software limit function, you must first set the “P Limit” and “N
Limit” values then check the “Soft-limit Enable” checkbox to execute the following
procedure:
/* Start software limit configuration */
rt = _DMC_01_rm_04pi_md1_set_soft_limit(CardNo, NodeID, SlotID, PLimit, NLimit,
Enable); // PLimit argument is the set value for positive limit; NLimit is the set value
for negative limit
※For a detailed description of software limit examples, please refer to section “3.13
Software Limit”.
12) Countine motion control

If you wish to carry out Countine motion, you must check the “Countine” checkbox
then click on the “” or “” button to execute the following procedure:
/* Countine motion */
rt = _DMC_01_rm_04pi_md1_v_move(CardNo, NodeID, SlotID, StrVel, MaxVel,
Tacc, Tdec, dir, m_curve);
13) Homing motion control

If you wish to carry out the Homing action, please click on the “Home” button to
/* Set homing mode: 1~35, offset and velocity parameters */
rt = _DMC_01_set_home_config(gDMCCardNo, NodeID, SlotID, home_mode,
home_offset, StrVel, MaxVel, acc);
/* Start homing motion */
rt = _DMC_01_set_home_move(gDMCCardNo, NodeID, SlotID);
14) Change position

Under mode 1, RM04PI will replace the current position with the new position value.
You must click on the “Pch” button to execute the following procedure:
/* P Change */

rt = _DMC_01_rm_04pi_md1_p_change(CardNo, NodeID, SlotID, NewPos);
15) Change velocity

Under mode 1, RM04PI will replace the current velocity with the new velocity. You
must click on the “Vch” button to execute the following procedure:
/* P Change */
rt = _DMC_01_rm_04pi_md1_v_change(CardNo, NodeID, SlotID, NewsPeed,sec);
16) Stop motion

17) Exit procedure


3.23 Remote Pulse Interface Module -Mode 2
Table 3.23
Function Name
_DMC_01_start_ta_mov
_DMC_01_set_rm_04pi_ipulse_mode
_DMC_01_set_rm_04pi_opulse_mode
_DMC_01_set_rm_04pi_svon_polarity
_DMC_01_set_monitor
_DMC_01_get_monitor
_DMC_01_send_message

Program Appearance
Figure 3.114

Figure 3.115
3) Select the control argument value
Figure 3.116
AB phase item: Input/Output mode set to AB phase.

CW/CCW item: Input/Output mode set to CW/CCW.
High active item: Trigger when level is high.
Low active item: Trigger when level is low.

Figure 3.117
curve.
variable “acc”.
variable “dec”.
5) Set Servo Motor Power ON/OFF (servo on/servo off)

6) Once AB Phase, CW/CCW, as well as High active and Low active have been set,
click on the “Set” button to execute the following procedure:
rt =_DMC_01_set_rm_04pi_ipulse_mode(CardNo, NodeID, SlotID, mode);
//Set input phase mode for pulse interface module
rt = _DMC_01_set_rm_04pi_opulse_mode(CardNo, NodeID, SlotID, mode);
//Set output phase mode for pulse interface module
rt = _DMC_01_set_rm_04pi_svon_polarity(CardNo, NodeID, SlotID, polarity);
//Set POWER ON (SVON) level


8) Stop motion
9) Exit procedure

3.24 Get (Calculate) Arc Information
Table 3.24
Function Name
_misc_app_get_circle_endpoint
_misc_app_get_circle_center_point

Program Appearance
Figure 3.118

Figure 3.119

3) Enter Known conditions and select the method of calculation to use
Figure 3.120
➌
➊ If you know the starting point's XY coordinates, the center point's XY
coordinates and the corresponding angle, you can use these to calculate the XY
coordinates of the endpoint. Clicking on “Calc.” then executes the following
procedure:
/* Get the X and Y values for the endpoint coordinates */
rt = _misc_app_get_circle_endpoint(Start_X, Start_Y , Center_X, Center_Y,
Angle, &End_X, &End_Y);
➋ If you know the starting point's XY coordinates, the endpoint's XY coordinates

and the corresponding angle, you can use these to calculate the XY coordinates of
the center point. Clicking on “Calc.” then executes the following procedure:
/* Get the X and Y values for the center point coordinates */
rt = _misc_app_get_circle_center_point(Start_X, Start_Y , End_X, End_Y, Angle,
&Center_X, &Center_Y);
➌ The results calculated by executing procedure ➊ or procedure ➋ is displayed

in block ➌.

4) When you complete the arc calculation and get the data you require for arc
interpolation motion, you can begin motion control for arc interpolation. Enter the
data required for arc interpolation as shown in Fig. 390, select the arc interpolation
motion you wish to use. For a detailed description of arc interpolation, please refer
to “2-axis Arc Interpolation Motion Control API”.
Figure 3.121

3.25 Control Interrupt
Table 3.26
Function Name
_DMC_01_int_enable
_DMC_01_int_disable
_DMC_01_set_int_factor
_DMC_01_get_int_count

Program Appearance
Figure 3.124

1) Card initialization:
Open card.
Figure 3.125
Figure 3.126

variable “acc”.
variable “dec”.
Figure 3.127

Abs. checkbox: You must check this if you want motion displacement to use
curve.
5) Enable or disable Normal Stop Interrupt
Figure 3.128
Enable item: Enables/disables Normal Stop Interrupt.

Normal Stop Counter item: Counts number of normal stops after Normal Stop
Interrupt is enabled.
6) If you wish to use Normal Stop Interrupt, you must click on the “Enable” button and
/* Enable Interrupt*/
rt = _DMC_01_int_enable(gDMCCardNo, NodeID);
/* Disable Interrupt*/
rt = _DMC_01_int_disable(gDMCCardNo, NodeID);
/* Set Interrupt function to Normal Stop Interrupt*/
rt = _DMC_01_set_int_factor(gDMCCardNo, NodeID,1);
/* 1: Normal Stop: Triggers after any kind of motion is completed (Mode2) */
/* 2: Next Buffer: Triggers when executing Buffer action (Mode2) */
/* 3: Acceleration End: Triggers when acceleration ends (Mode2) */
/* 4: Deceleration Start: Triggers when deceleration starts (Mode2) */
/* 5: Sdo Finish: (Function not available) */
/* 6: DMC Cycle Start: Triggers when DMC Cycle starts */
/* 7: RM04PI-FIFO: Triggers when 04PI FIFO starts(Mode1) */
/* 8: User define: (Function not available) */



9) Set Interrupt function to Normal Stop Interrupt:

After moving a set distance or pressing the Stop button halfway, using the following
API to read
Int_Count will increase the value by 1. This is shown above in Figure 3.128 Normal
Stop Counter.
rt = _DMC_01_get_int_counter(gDMCCardNo, NodeID, &Int_Count);
10) Stop motion

Click on the “STOP” button to execute slow down stop for current point to point
motion.
rt = _DMC_01_sd_stop(gDMCCardNo, NodeID, SlotID, dec);
In this example, deceleration is used to stop displacement motion. Here the velocity
is gradually reduced to 0 over the set deceleration time. For a detailed description of
Stop motion, please refer to “Chapter 14 Stop Motion API”.
11) Exit procedure

Exit function requires “_DMC_01_reset_card” and _DMC_01_close” to be used. For
a detailed description of these two API please refer to section 3.1.2 4) Exit
procedure.

3.26 MasterCard Security
Table 3.26
Function Name
_DMC_01_check_userpassword
_DMC_01_write_userpassword
_DMC_01_read_serialno
_DMC_01_write_verifykey
_DMC_01_check_verifykey
_DMC_01_read_security
_DMC_01_read_security_status
_DMC_01_write_security
_DMC_01_write_security_status
_misc_security


Program Appearance
Figure 3.129
Click on the “Open card” button to start card initialization.
Open card.

2) Start motion card login operation. (SerialNo, Verifykey, Memory Read/Write all
require Check
Password Pass to operate).
Figure 3.130
Password item: Enter two sets of 1~8 bit 0~F hexadecimal values. Default motion
card passwords (Password1: FFFFFFFF Password2:FFFFFFFF).
Login item: Check password.
Status item: If password is correct then “Pass” is displayed in the status below. If
password is wrong, “Failed” appears in the status display.
3) Change motion card password:
Figure 3.131
Change Password item: Enter two sets of 1~8 bit 0~F hexadecimal values.
Repeat item: Enter the two sets of 1~8 bit 0~F hexadecimal values again.
(Same inputs as Change Password).
Change item: Click on Change button to change password. \
Status item: If the passwords entered in Change Password and Repeat are the
same then when the Change button is clicked, the password is successfully
changed and “Pass” appears in the status display. If the passwords entered in
Change Password and Repeat do not match, “Please rewrite it” appears in the
status display, in which case please try Change Password again.

4) Set up Verifykey
Figure 3.132
SerialNo. display: The motion card's serial number is displayed here.

Read Serial No item: Read the serial number of the motion card.
Input User Key item: Enter two sets of customer-selected 1~8 bit 0~F hexadecimal
values as the Key values.
Verify key display: The generated verifykey is displayed here.
Make Verify Key item: Encrypt the SerialNo and customer provided Userkey to
generate four sets of VerifyKey.
Write Verify Key item: Write the generated Verifykey to the motion card.
Status item: If Verifykey is successfully written then “Write Done” appears in the
status display. If write fails, then “Failed” appears in the status display.
5) Check Verify key
Figure 3.133
Input Verify key item: Enter the motion card Verify key to check.
Sync item: Copy the Verify key value generated by the above procedure to the
Input Verify key field.
Check Verify key item: Check Verify Key. If the Key value is correct then “Check
Pass” appears in the status display. If Key value is wrong then “Lock” appears in the
status display.

6) Check Verify key
Figure 3.134
Page item: Enter the value of the Memory Page (0 ~ 9) to read or write.
Read item: Execute read of selected Memory Page and display in “Read” item.
Write Enable item: Before executing the write operation, the Write Enable
checkbox must be checked.
The status bar will now display “Write/Read”.
Sync item: Clicking on Sync button copies the value from the “Read” to “Write”.
Write item: Write the value in the “Write” position to Memory.
Status item: Default is “Read Only”. When Write Enable option is checked,
“Write/Read” will be displayed.
7) Clicking on the Login button in Fig. 3.130 below executes the following procedure:
/* Check Password function*/
rt = _DMC_01_check_userpassword(gDMCCardNo, Password(0),state);
Clicking on Change button in Fig. 3.131 below executes the following procedure:
/* Change Password operation */
rt = _DMC_01_write_userpassword(gDMCCardNo, chpassword(0));
Clicking on the Read Serial No button in Fig. 3.132 below executes the following
procedure:
/* Read Serial No. operation*/
rt = _DMC_01_read_serialno(gDMCCardNo, serial(0));
Clicking on the Make Verify Key button in Fig. 3.132 below executes the following
procedure:
/* Makes encrypted Verify Key*/
rt = _misc_security(userkey(0),userkey(1),SerialNo(0),SerialNo(1),verifykey(0) ,
verifykey(1) ,verifykey(2) ,verifykey(3));
Clicking on the Write Verify Key button in Fig. 3.132 below executes the following
procedure:
/* Write Verify Key to Memory*/
rt =_DMC_01_write_verifykey(gDMCCardNo,verifykey(0));
Clicking on the Check Verify Key button in Fig. 3.133 below executes the following
procedure:

/* Check to see if value of Verify Key is correct*/
rt =_DMC_01_check_verifykey(gDMCCardNo,verifykey(0),state);
Clicking on Read button in Fig. 3.134 below executes the following procedure:
/*Read the data from the selected Page and display data in the “Read” position*/
rt =_DMC_01_read_security(gDMCCardNo,page,ary(0));
Clicking on Write button in Fig. 3.134 below executes the following procedure:
/* Write the data in the “Write” position to the Memory at the selected Page*/
rt =_DMC_01_write_security(gDMCCardNo,page,ary(0));
Checking the WriteEnable option in Fig. 3.134 executes the following procedure:
/* Write the data in the “Write” position to the Memory at the selected Page*/
rt =_DMC_01_write_security_status(gDMCCardNo,on_off);
8) Exit procedure
procedure.

3.27 Remote Analog Input/Output Module
Table 3.27
Function Name
_DMC_01_rm_04da_set_output_value
_DMC_01_rm_04da_get_output_value
_DMC_01_rm_04da_get_return_code
_DMC_01_rm_04da_read_data
_DMC_01_rm_04da_set_output_range
_DMC_01_rm_04da_set_output_enable
_DMC_01_rm_04da_set_output_overrange
_DMC_01_rm_04da_set_output_error_clear
_DMC_01_rm_04da_set_output_error_handle
_DMC_01_rm_04da_set_output_offset_value
_DMC_01_rm_04da_get_output_offset_value
_DMC_01_set_04ad_input_range
_DMC_01_get_04ad_input_range
_DMC_01_set_04ad_zero_scale
_DMC_01_get_04ad_zero_scale
_DMC_01_set_04ad_full_scale
_DMC_01_get_04ad_full_scale
_DMC_01_set_04ad_conversion_time
_DMC_01_get_04ad_conversion_time
_DMC_01_get_04da_data
_DMC_01_set_04ad_average_mode
_DMC_01_get_04ad_average_mode
_DMC_01_set_04ad_input_enable


Program Appearance
Figure 3.135

Open card.
2) DA Channel and display mode selection
Figure 3.136
Channel item: Enter the ID of the DA Channel to be used (0~3).

Mode item: Select DA display range. API function's argument variable “mode”.
Appro item: Show approximate voltage or current based on the selected display
range and lever position.
Read item: Display actual output voltage or current.
Apply item: Click on Apply button converts estimated current or voltage from Appro
to actual output.
3) DA Data Choice:
Figure 3.137
Error Handle item: Check this item to keep previous status when re-executing this
program.
Over Range item: Check this item to increase voltage or current output by 10%.
Set Offset item: Set DA offset.
ClearError item: Clear the Error status indicated by Rtn Code.

4) Select AD Conversion Time mode:
Figure 3.138
Conversion Time item: Select Conversion Time mode.
5) Select AD Channel / Display mode / Average data.
Figure 3.139
Channel item: Select Channel for AD enable input.

Mode item: Select AD display range.
Average item: Select wave display calculation frequency.
Data item: Enter AD voltage or current display position.
6) AD reset and maximum:
Figure 3.140
Zero item: Click this button to carry out re-zero (e.g. selectDA Mode -5~5, set lever
to 0 position then click on Zero button to complete zeroing operation)
Full item: Click this button to set maximum (e.g. select DA Mode -10~10, set lever
to 10 then click on Full button to complete the set maximum operation)

7) If the Mode option in Fig. 3.136 is selected, execute the following procedure:
/*First, reset Offset to 0 */
rt = _DMC_01_rm_04da_set_output_offset_value(gDMCCardNo,DANodeID,SlotID,
ChannelDA,0);
/* Next, Output Disable */
rt = _DMC_01_rm_04da_set_output_enable(gDMCCardNo,DANodeID,SlotID,
ChannelDA,0);
/* Set DA selection mode */
rt = _DMC_01_rm_04da_set_output_range(gDMCCardNo,DANodeID,SlotID,
ChannelDA,DAmode);
If the Apply option in Fig. 3.136 is selected, execute the following procedure:
/* Set DA output value */
rt = _DMC_01_rm_04da_set_output_value(gDMCCardNo,DANodeID,SlotID,
ChannelDA,AppValue);
If the Error Handle option in Fig. 3.137 is checked, execute the following procedure:
/* Enable Error Handle*/
rt =_DMC_01_rm_04da_set_output_error_handle(gDMCCardNo,DANodeID,SlotID,
ChannelDA,1);
If the Over Range option in Fig. 3.137 is checked, execute the following procedure:
\/* Enable Over Range*/
rt =_DMC_01_rm_04da_set_output_overrange(gDMCCardNo,DANodeID,SlotID,
ChannelDA,1);
If Set Offset option in Fig. 3.137 is selected, execute the following procedure:
/* Set the entered Offset value in DA */
rt =_DMC_01_rm_04da_set_output_offset_value(gDMCCardNo,DANodeID,SlotID,
ChannelDA,offset);
If Clear Error option in Fig. 3.137 is selected, execute the following procedure:
/* Clear Error status */
rt =_DMC_01_rm_04da_set_output_error_clear(gDMCCardNo,DANodeID,SlotID,
ChannelDA,1);
If the Conversion Time option in Fig. 3.138 is selected, execute the following
procedure:
/* Set Conversion Time mode*/
rt =_DMC_01_set_04ad_conversion_time(gDMCCardNo,ADNodeID,SlotID,mode);
If the Mode option in Fig. 3.139 is selected, execute the following procedure:
/* Set AD input range mode*/
rt =_DMC_01_set_04ad_input_range(gDMCCardNo,ADNodeID,SlotID,ChannelAD,
mode);
If the Average option in Fig. 3.139 is selected, execute the following procedure:
/* Set AD waveform output calculation frequency*/
rt =_DMC_01_set_04ad_average_mode(gDMCCardNo,ADNodeID,SlotID,
ChannelAD,mode);
For the Data display in Fig. 3.139, execute the following procedure:
/* Display AD input voltage or current */
rt =_DMC_01_get_04ad_data(gDMCCardNo,ADNodeID,SlotID,ChannelAD,data);
If the Zero option in Fig. 3.140 is selected, execute the following procedure:
/* Reset selected Channel */
rt =_DMC_01_set_04ad_zero_scale(gDMCCardNo,ADNodeID,SlotID,Channel);
rt =_DMC_01_get_04ad_zero_scale_status(gDMCCardNo,ADNodeID,SlotID,
Channel,flag); /* flag=1 means setup incomplete, flag=0 means setup
completed. */
If the Full option in Fig. 3.140 is selected, execute the following procedure:
/* Adjust maximum value of selected Channel */
rt =_DMC_01_set_04ad_full_scale(gDMCCardNo,ADNodeID,SlotID,Channel);
rt =_DMC_01_get_04ad_full_scale_status(gDMCCardNo,ADNodeID,SlotID,
Channel,flag); /* flag=1 means setup incomplete, flag=0 means setup
completed. */
8) Exit procedure
procedure.

3.28 Spiral Interpolation Motion Control -Spiral
Table 3.28
Function Name
_DMC_01_start_spiral_xy
_DMC_01_start_spiral2_xy

Program Appearance
Figure 3.141
Open card.

2) Enable motion status display
Figure 3.142
3) Spiral motion parameter settings:
Figure 3.143
Center_X item: Spiral center point's X-coordinate, API function's argument variable
“Center_X”.
Center_Y item: Spiral center point's Y-coordinate, API function's argument variable
“Center_Y”.
Pitch item: Interval between circles in Spiral, API function's argument variable
“Pitch”.
Angle item: Total sum of angles in Spiral. For example, 720 degrees is 2 circles,
API function's argument variable “Angle”.
variable “acc”.
variable “dec”.

4) Spiral2 motion parameter settings:
Figure 3.144
Center_X item: Spiral center point's X-coordinate, API function's argument variable
“Center_X”.
Center_Y item: Spiral center point's Y-coordinate, API function's argument variable
“Center_Y”.
variable “acc”.
variable “dec”
Dir item: Direction of spiral motion: 0: clockwise; 1: counterclockwise. API function's
argument variable “Dir”.
Cir_Num item: Number of Spiral circles. API function's argument variable
“Cir_Num”.
End_X item: Spiral endpoint's X-coordinate, API function's argument variable
“End_X”.
End_Y item: Spiral endpoint's Y-coordinate, API function's argument variable
“End _Y”.

5) Select motion mode
Figure 3.145
curve.
6) Select Spiral motion mode
Figure 3.146
Spiral item: Click this if you wish to perform Spiral motion.

Spiral2 item: Click this if you wish to perform Spiral 2 motion.

8) Start motion control. Click on the “MOVE” button to execute the following procedure:
rt = _DMC_01_start_spiral_xy(gDMCCardNo, gLine2, gSlot2, Center_X, Center_Y,
StrVel, MaxVel, acc, dec, 2 , 1); // Motion displacement using absolute coordinates
with S-curve velocity cross-section
StrVel, MaxVel, acc, dec, 1 , 1); // Motion displacement using absolute coordinates
StrVel, MaxVel, acc, dec, 2 , 0); // Motion displacement using relative coordinates
StrVel, MaxVel, acc, dec, 1 , 0); // Motion displacement using relative coordinates

9) Stop motion
Click on the “STOP” button to execute slow down stop for current point to point
motion.
rt = _DMC_01_sd_stop(gDMCCardNo, NodeID, SlotID, dec);
In this example, deceleration is used to stop displacement motion. Here the velocity
is gradually reduced to 0 over the set deceleration time. For a detailed description of
Stop motion, please refer to “Chapter 14 Stop Motion API”.
10) Exit procedure

procedure.

3.29 Position Compare
Table 3.29
Function Name
_DMC_01_set_compare_channel_position
_DMC_01_get_compare_channel_position
_DMC_01_set_compare_ipulse_mode
_DMC_01_set_compare_channel_direction
_DMC_01_set_compare_channel_trigger_time
_DMC_01_set_compare_channel_one_shot
_DMC_01_set_compare_channel_source
_DMC_01_channel0_position_cmp
_DMC_01_channel1_output_enable
_DMC_01_channel1_output_mode
_DMC_01_channel1_get_io_status
_DMC_01_channel1_get_gpio_out
_DMC_01_channel1_get_fifo_status
_DMC_01_channel1_get_fifo_counter
_DMC_01_channel1_position_compare_table
_DMC_01_channel1_position_compare_table_level
_DMC_01_channel1_position_compare_table_cnt
_DMC_01_set_compare_channel_polarity


Program Appearance
Figure 3.147
※First, check to ensure hat the card you have installed is the PCI-DMC-B01
interface card.
Open card.
2) Card ID, Node ID, and QEP option:
Figure 3.148

Card item: Enter ID of PCI_DMC_B01 card to use.
Node item: Select Node ID. This should match the QEP1 or QEP2.
QEP1 item: Example: If Channel 0 is selected, then Node ID should be Node 1.
QEP2 item: Example: If Channel 1 is selected, Node ID should be Node2.
3) Compare Type Select and Polarity settings:
Figure 3.149
High item: Check this item to execute the following settings: 0: High
rt = _DMC_01_set_compare_channel_polarity(CpCardNo,0);
Low item: Check this item to execute the following settings: 1: Low
rt = _DMC_01_set_compare_channel_polarity(CpCardNo,1);
Type item: Select Compare1 or Compare2 function.
rt = _DMC_01_set_compare_channel_source(CpCardNo,Compare_Type,CpQEP);
//Compare_type:0=COMP1, 1=COMP2
TCount item: Trigger counter.
4) MPC parameter settings:
Figure 3.150
Inpulse Type item: Select AB Phase or CW/CCW mode. Execute the following
settings:
rt = _DMC_01_set_compare_ipulse_mode(CpCardNo,mode);
// 0: AB Phase 1: CW/CCW
Reset item: Click this button to clear MPC Count for QEP1 and QEP2. Execute the
following settings:
rt = _DMC_01_set_compare_channel_position(CpCardNo,channel,0);

QEP1 Inverse item: Reverse. Click on this button to execute the following settings:
rt = _DMC_01_set_compare_channel_direction(CpCardNo,0,dir); // dir:0 or 1
QEP2 Inverse item: Reverse. Click on this button to execute the following settings:
rt = _DMC_01_set_compare_channel_direction(CpCardNo,1,dir); // dir:0 or 1
5) Operate data settings:
Figure 3.151
Trigger Time item: Enter a Trigger enable time.

Trigger count item: Enter Trigger enable total count.
Start Position item: Enter Trigger enable starting position.
Interval item: Enter Trigger enable frequency. For example, 10 means enable once
every 10 pulses.
Abs. Checkbox: Check this option if you wish to use absolute coordinates for
trigger enable.
Level Checkbox: Check this to execute the following settings:
rt = _DMC_01_channel1_output_mode(CpCardNo,mode);
// mode: 0 is Normal mode, 1 is Custom mode(See Chapter 39 Compare API for
details)
One Shot item: Click this button to set only one Trigger for executing the following
settings:
rt = _DMC_01_set_compare_channel_trigger_time(CpCardNo,compare_channel,
time_us); // time_us=Trigger time
rt = _DMC_01_set_compare_channel_one_shot(CpCardNo,compare_channel);
Set item: Select a direction from >>> and <<< then click this button to execute the
following settings:
rt = _DMC_01_get_compare_channel_position(CpCardNo,compare_channel,
position);
rt = _DMC_01_set_compare_channel_trigger_time(CpCardNo,compare_channel,
time_us); // time_us = Trigger time
If CompareType=CMP1 //Compare1
rt = _DMC_01_channel0_position_cmp(CpCardNo,start,dir,interval);
// dir->0:CMP1¡A1:CMP2
Else //Compare2
First, set output to disable
rt = _DMC_01_channel1_output_enable(CpCardNo,0); // 0:off 1:on
 If Level checkbox is checked, then execute the following setting:
rt = _DMC_01_channel1_position_compare_table(CpCardNo,pos_table,tab_size);
 If not checked, then execute the following settings:
rt = _DMC_01_channel1_position_compare_table_level(CpCardNo,pos_table,
level_table,tab_size);
At the end, set output to enable
rt = _DMC_01_channel1_output_enable(CpCardNo,1); // 0:off 1:on
6) Command display and testing area:
Figure 3.152
Reset item: Click this button to execute Reset motion.

P2PMove item: Click this button to move in positive or negative direction.
STOP item: Click this button to stop motion.
Command item: Display current motion position.
9) Exit procedure
procedure.

3.30 Axis Group
Table 3.30
Function Name
_DMC_01_set_group

Program Appearance
Figure 3.153

Open card.
2) Card number, Slave number:
Figure 3.154
Card num item: Display number of cards.

Slave num item: Display number of slaves.
3) Group settings and reset:
Figure 3.155
Nodexx item: Display details for Node ID.

Set Group item: 1. Up to 6 groups can be set per card.
2. If Node 7 and Node 8 are set as one group and a link error
occurs nearby, both Node 7 & Node 8 will stop. Nodes 1, 4, 5,
6 will remain unaffected and continue working normally.
3. Once you have selected the nodes to place in a group, click on
“Set Group” to execute the following settings.
rt = _DMC_01__DMC_01_set_group (gDMCCardNo, NodeID, SlotID, NodeNum,
1); //1: Set all selected Node to the same group.
Clear All Group item: When “Clear All Group” is clicked this will execute the
following settings.
rt = _DMC_01_set_group(gDMCCardNo, (U16*)1, 0, 1, 0);
//0: Clear all group settings on this card

4) Exit procedure
procedure.

3.31 Speed Continue
Table 3.31
Function Name
_DMC_01_speed_continue
_DMC_01_speed_continue_mode
_DMC_01_speed_continue_combine_ratio

Program Appearance
Figure 3.156

Open card.
2) Card number, Slave number and Timer setting:
Figure 3.157

3) Speed Continue parameter setting:
Figure 3.158
S.CEnable checkbox: Check this to enter Speed Continue mode and execute the
following setting:
rt = _DMC_01_speed_continue(gDMCCardNo,gpNodeID[0], 0, flag);
//flag=1 means set as Speed Continue mode; flag=0 means cancel Speed Continue
mode.
S.CCombine Ratio item: Set Speed Continue Combine Percentage. Clicking on
“Set” button will execute the following setting:
rt = _DMC_01_speed_continue_combine_ratio(gDMCCardNo, gpNodeID[0], 0,
Ratio); //Ratio:Indicates the Speed Continue Combine Percentage (see 41.3 Speed
Continue API for details).
S.C Mode item: Clicking on “S.C Mode” will execute the following settings.
rt = _DMC_01_speed_continue_mode(gDMCCardNo, gpNodeID[0], 0, Mode);
//Mode=0 set as Equivalent Acceleration mode
//Mode=1 set as Acceleration/Deceleration mode
//Mode=2 set as Maximum Velocity mode
//(Please refer to 41.2 Speed Continue API for details)

4) Demonstration:
Figure 3.159
Example 1 item: Clicking on this will enter a Speed Continue demonstration

programs shown in Fig. 3.158.
The selected Speed Continue parameters will execute the following procedure in
order:
rt = _DMC_01_start_tr_move_xy(gDMCCardNo, NodeID, SlotID, 0, 10000, 0, 5000,
0.1, 0.1);
rt = _DMC_01_start_tr_arc_xy(gDMCCardNo, NodeID, SlotID, 2000, 0, 90, 0, 2500,
0.1, 0.1);
rt = _DMC_01_start_tr_move_xy(gDMCCardNo, NodeID, SlotID, 10000, 0, 0, 5000,
0.1, 0.1);
rt = _DMC_01_start_tr_arc_xy(gDMCCardNo, NodeID, SlotID, 0, -2000, 90, 0, 2500,
0.1, 0.1);
rt = _DMC_01_start_tr_move_xy(gDMCCardNo, NodeID, SlotID, 0, -10000, 0, 5000,
0.1, 0.1);
rt = _DMC_01_start_tr_arc_xy(gDMCCardNo, NodeID, SlotID, -2000, 0, 90, 0, 2500,
0.1, 0.1);
rt = _DMC_01_start_tr_move_xy(gDMCCardNo, NodeID, SlotID, -10000, 0, 0, 5000,
0.1, 0.1);
rt = _DMC_01_start_tr_arc_xy(gDMCCardNo, NodeID, SlotID, 0, 2000, 90, 0, 2500,
0.1, 0.1);
5) Exit procedure
procedure.

3.32 Spiral Interpolation - Helix Using -Sp1_ Normal Follow
Table 3.32
Function Name
_DMC_01_start_tr_heli_xy

Program Appearance
Figure 3.160

Open card.
2) Card number, Slave number:
Figure 3.161

3) Example of parameter setting and operation:
Figure 3.162
Select example item: Can choose Example1 or Example2.

Select follow type item: Can choose Normal or Tangent.
Speed item: Select default speed ratio.
Start item: Click on the “Start” button to execute the following settings:
_DMC_01_start_tr_heli_xy(CardNo,NodeID,SlotID,CenterX,CenterY,
Depth,Pitch, Dir, StartVel, MaxVel, Tacc, Tdec);
Parameters:
CardNo: Card number.
NodeID: 3-axis Node ID array.
SlotID: 3-axis Slot ID array.
CenterX: Center point (X-coordinate) for circular motion on X, Y axes.
CenterY: Center point (Y-coordinate) for circular motion on X, Y axes.
Depth: DistanceZ-axis is to move (equal to angle of circle divided by 360 then
multiplied by Pitch).
Pitch: Net distance for one revolution of the Z-axis (always positive)
Dir: Direction of circular motion; 0 is CW,. 1 is CCW.

Remarks: If Z-axis completes one revolution CW over the distance of Pitch, then if
Dr = 0 Depth is a positive number as well. If Dir = 1 then Depth is a negative number;
if Z-axis completes one revolution CCW over the distance of pitch, then the opposite
is true.
When Example 1 and Normal are selected, the result is as shown below:
Figure 3.163

When Example 2 and Tangent are selected, the result is as shown below:
Figure 3.164
Example 1: In this example, X and Y axes are used to make the tool move along
rounded corner and straight lines. The tool on the Z-axis is always at a
normal or tangent to the outer edge of the shape.
(The following explanation uses the C language and is executed using
a state machine. Please see Sample for details)

/* MotionStep1. Move the three axes to job start point */
_DMC_01_start_sa_move(CardNo, NodeID3[0], SlotID3[0], 0, 0, MaxVel, 0.1, 0.1);
_DMC_01_start_sa_move(CardNo, NodeID3[2], SlotID3[2], -13500, 0, MaxVel, 0.1,
0.1);
/* MotionStep2. Wait for Motion Done and confirm that Step 1 was completed */
for(i=0;i<3;i++)
{
rt[i] = _DMC_01_get_command(CardNo, NodeID3[i], SlotID3[i], &Cmd[i]);
}
if((rt[0] + rt[1] + rt[2] == 0) && (Cmd[0] == 0) && (Cmd[1] == 0) && (Cmd[2] ==

-13500))
{
MotionStep = 3;
}
/* MotionStep3. Start processing */

_DMC_01_start_tr_move_xy(CardNo, NodeID2, SlotID2, 40000, 40000, MaxVel/2,
MaxVel, 0.1, 0.1);
_DMC_01_start_tr_heli_xy(CardNo, NodeID3, SlotID3, -10000, 10000,
-Pitch*(180.0/360), Pitch,1, MaxVel/2, MaxVel, 0.1, 0.1);
_DMC_01_start_tr_move_xy(CardNo, NodeID2, SlotID2, -40000, -40000, MaxVel/2,
MaxVel, 0.1,0.1);
_DMC_01_start_tr_heli_xy(CardNo, NodeID3, SlotID3, 10000, -10000, - Pitch
*(180.0/360), Pitch, 1, MaxVel/2, MaxVel,0.1,0.1);

Example 2: In this example, X and Y axes are used to make the tool move along
rounded corner and straight lines. The tool on the Z-axis is always at a
normal or tangent to the shape.
(The following explanation uses the C language and is executed using
a state machine. Please see Sample for details)
/* MotionStep1. Move the three axes to job start point */

/* MotionStep2. Wait for Motion Done and confirm that Step 1 was completed */
for(i=0;i<3;i++)
{
rt[i] = _DMC_01_get_command(CardNo, NodeID3[i], SlotID3[i], &Cmd[i]);
}
if((rt[0] + rt[1] + rt[2] == 0) && (Cmd[0] == 0) && (Cmd[1] == 0) && (Cmd[2] == 0))
{
MotionStep = 3;
}
/* MotionStep3. start 1st step of job (straight line) */
_DMC_01_start_ta_move_xy(CardNo, NodeID2, SlotID2, 30000, 0, MaxVel/2,
MaxVel, 0.1, 0.1);
/* MotionStep4. Wait for first step of job to finish executing */
rt[0] = _DMC_01_get_command(CardNo, NodeID3[0], SlotID3[0], &Cmd[0]);
if ((rt[0] + rt[1] == 0) && (Cmd[0] == 30000) && (Cmd[1] == 0))
{
MotionStep = 5;
}
/* MotionStep5. Rotate Z-axis to keep tool on a tangent (or normal) */

rt[0] = _DMC_01_start_tr_move(CardNo, NodeID3[2], SlotID3[2],
-Pitch*(90.0/360.0), MaxVel/2, MaxVel, 0.1, 0.1);
/* MotionStep6. Wait for Z-axis tool to move into position (End action) */
if ((rt[2] == 0) && (Cmd[2] == TempSaveData))
{
MotionStep = 7;
}
/* MotionStep7. Start 2nd step of job (straight line) */

_DMC_01_start_ta_move_xy(CardNo, NodeID2, SlotID2, 30000, 30000, MaxVel/2,
MaxVel, 0.1, 0.1);
/* MotionStep8. Wait for 2nd step of job to finish */

if ((rt[0] + rt[1] == 0) && (Cmd[0] == 30000) && (Cmd[1] == 30000))
{
MotionStep = 9;
}
/* MotionStep9. Rotate Z-axis to keep tool on a tangent (or normal) */

_DMC_01_start_tr_move(CardNo, NodeID3[2], SlotID3[2], -Pitch*(90.0/360.0),
MaxVel/2, MaxVel, 0.1, 0.1);

/* MotionStep10. Wait for Z-axis tool to move into position (End action) */
if ((rt[2] == 0) && (Cmd[2] == TempSaveData))
{
MotionStep = 11;
}
/* MotionStep11. Start job (Continuous Arc) */

_DMC_01_start_tr_heli_xy(CardNo, NodeID3, SlotID3, 0, -10000,
-Pitch*(90.0/360.0), Pitch, 1, MaxVel/2, MaxVel, 0.1,
0.1);
_DMC_01_start_tr_heli_xy(CardNo, NodeID3, SlotID3, -10000, 0, Pitch
*(90.0/360.0), Pitch, 0, MaxVel/2, MaxVel, 0.1, 0.1);
_DMC_01_start_tr_heli_xy(CardNo, NodeID3, SlotID3, 0, -10000, - Pitch
*(90.0/360.0), Pitch, 1, MaxVel/2, MaxVel, 0.1, 0.1)

3.33 Logger
Table 3.99
Function Name
_misc_set_record_debuging
_misc_open_record_debuging_file

Program Appearance
Figure 3.165

2) Debug enable and disable
Figure 3.166
If you wish to enable the Debug function, you must execute the following procedure:
rt = _misc_set_record_debuging(enable);
// If the value of enable argument is 1, debug is enabled
3) Enter the path of the record file and select output method for record
Figure 3.167
If you wish to view the log record generated by motion control, you must execute the
following procedure:
rt = _misc_open_record_debuging_file(file_name, open);
// “file_name” is a character array variable used for storing the file path of the debug
record. The “open” variable is used to decide whether the debug record should be
output to the document at the file path you selected. When “open” has a value of 1,
the debug record will be output and stored in the document at your selected file path.
If the value is 0, then the record will only appear in the debug window of Visual
Studio 6's development environment.

4) Start any kind of motion control under PDO mode
5) Log record output

Fig. 3.998 is shows the log of functions and value changes used by motion control
displayed in the debug window of the Visual Studio 6 development environment. Fig.
3.123 shows that the functions and value changes of the log record will be output to
a file named “log-output.txt”.
Figure 3.168
Figure 3.169

Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 4 Control API
4.1 Data Type and Range
Under the “inc\VC\” folder in the installation is a file named “TYPE_DEF.H”. The file defines
all the standard data types.
Table 4.1 below shows the types, names, meanings, and ranges defined in the file.
Table 4.1
Name Description Range
U8 8-bit ASCII character 0 to 255
I16 16-bit Signed Integer -32768 to 32767
U16 16-bit Unsigned Integer 0 to 65535
I32 32-bit Signed Long Integer -2147483648 to 2147483647
U32 32-bit Unsigned Integer 0 to 4294967295
32-bit Single Precision Floating
F32 -3.402823E38 to 3.402823E38
Point
64-bit Double Precision Floating -1.797683134862315E308 to
F64
Point 1.797683134862315E309
Boolean Boolean TRUE, FALSE

4.2 Function Description
Table 4.2
Hardware Initialization API
_DMC_01_open Initialize system resources when program is run
_DMC_01_close Release all system resources
_DMC_01_get_CardNo_seq Get the number of all PCI-DMC-A01 interface cards
on the system
_DMC_01_pci_initial Initialize this PCI card
_DMC_01_get_card_version Get motion card version
Interface API
_DMC_01_initial_bus Initialize external bus
_DMC_01_start_ring Start ring communication
_DMC_01_get_device_table Get device table
_DMC_01_get_node_table Get node table
_DMC_01_check_card_running Check to see if card is running
_DMC_01_reset_card Reset selected card
_DMC_01_check_nodeno Check to see if node already exists
_DMC_01_get_master_connect_status Get the connection status between the Master Card
and expansion module
_DMC_01_get_mailbox_Error Get number of MailBox errors
_DMC_01_get_mailbox_cnt Get MailBox counter value
_DMC_01_get_dsp_cnt Get Interrupt counter value
_DMC_01_set_dio_output Set GPIO output pin status
_DMC_01_get_dio_output Get GPIO output pin status
_DMC_01_get_dio_input Get GPIO input pin status
_DMC_01_get_cycle_time Get current cycle time for finding/checking devices
_DMC_01_initial_bus2 Initialize all external bus
_DMC_01_motion_cnt Get MailBox and DSP counter values
Servo Drive Parameter Read/Write API
_DMC_01_read_servo_parameter Read servo drive parameter
_DMC_01_write_servo_parameter Write servo drive parameter
Use SDO protocol API
_DMC_01_check_canopen_lock Under SDO mode. check to see if next command
can be executed
_DMC_01_get_canopen_ret Get data returned by CANOPEN (SDO related data)
_DMC_01_set_pdo_mode Set to use CANopen protocol (PDO or SDO)
_DMC_01_send_message Send SDO command message to data buffer

_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 Perform motion displacement with new position
_move 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

_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
_DMC_01_start_sa_move Motion displacement using absolute coordinates
_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
_DMC_01_start_sr_move_2seg 2nd motion displacement using relative coordinates
_DMC_01_start_ta_move_2seg 2nd motion displacement using absolute
_DMC_01_start_sa_move_2seg 2nd motion displacement using absolute
coordinates with S-curve velocity cross-section
_DMC_01_start_tr_move_2seg2 2nd motion displacement using relative coordinates
_DMC_01_start_sr_move_2seg2 2nd motion displacement using relative coordinates
_DMC_01_start_ta_move_2seg2 2nd motion displacement using absolute
_DMC_01_start_sa_move_2seg2 2nd motion displacement using absolute
_DMC_01_feedrate_overwrite Change motion speed or speed ratio
_DMC_01_start_v3_move Single-axis motion displacement with EndVel added
2-Axis Linear Interpolation Motion Control API
_DMC_01_start_tr_move_xy 2-axis Linear interpolation motion using relative
_DMC_01_start_sr_move_xy 2-axis Linear interpolation motion using relative
_DMC_01_start_ta_move_xy 2-axis Linear interpolation motion using absolute
_DMC_01_start_sa_move_xy 2-axis Linear interpolation motion using absolute
_DMC_01_start_v3_move_xy 2-axis linear interpolation motion with EndVel added
2-Axis Arc Interpolation Motion Control API
_DMC_01_start_tr_arc_xy 2-axis arc interpolation motion using relative
(Known conditions: Center point coordinates, angle)
_DMC_01_start_sr_arc_xy 2-axis arc interpolation motion using relative
_DMC_01_start_ta_arc_xy 2-axis arc interpolation motion using absolute
_DMC_01_start_sa_arc_xy 2-axis arc interpolation motion using absolute

_DMC_01_start_tr_arc2_xy 2-axis arc interpolation motion using relative
(Known conditions: Endpoint coordinates, angle)
_DMC_01_start_sr_arc2_xy 2-axis arc interpolation motion using relative
_DMC_01_start_ta_arc2_xy 2-axis arc interpolation motion using absolute
_DMC_01_start_sa_arc2_xy 2-axis arc interpolation motion using absolute
(Known conditions: Center point coordinates,
endpoint coordinates)
_DMC_01_start_spiral_xy 2-axis spiral motion (Known conditions: Center
coordinates for X and Y axes)
_DMC_01_start_spiral2_xy 2-axis spiral motion (Known conditions: Center
coordinates for X and Y axes, endpoint coordinates
for X and Y axes)
_DMC_01_start_v3_arc_xy 2-axis arc interpolation motion with EndVel added
_DMC_01_start_v3_arc2_xy 2-axis arc interpolation motion with EndVel added

_DMC_01_start_v3_arc3_xy 2-axis arc interpolation motion with EndVel added
_DMC_01_start_v3_spiral_xy 2-axis spiral motion with EndVel added (Known
conditions: Center coordinates for X and Y axes)
_DMC_01_start_v3_spiral2_xy 2-axis spiral motion with EndVel added (Known
conditions: Center coordinates for X and Y axes,
endpoint coordinates for X and Y axes)
3-Axis Linear Interpolation Motion Control API
_DMC_01_start_tr_move_xyz 3-axis Linear interpolation motion using relative
_DMC_01_start_sr_move_xyz 3-axis Linear interpolation motion using relative
_DMC_01_start_ta_move_xyz 3-axis Linear interpolation motion using absolute
_DMC_01_start_sa_move_xyz 3-axis Linear interpolation motion using absolute
_DMC_01_start_v3_move_xyz 3-axis linear interpolation motion with EndVel added
3-Axis Spiral Interpolation Motion Control API
_DMC_01_start_tr_heli_xy 3-axis Spiral interpolation motion using relative
_DMC_01_start_sr_heli_xy 3-axis Spiral interpolation motion using relative
_DMC_01_start_ta_heli_xy 3-axis Spiral interpolation motion using absolute
_DMC_01_start_sa_heli_xy 3-axis Spiral interpolation motion using absolute
_DMC_01_start_v3_heli_xy 3-axis Spiral interpolation motion with EndVel added
Velocity Motion Control API
_DMC_01_tv_move Velocity motion control with T-curve velocity
cross-section
_DMC_01_sv_move Velocity motion control with S-curve velocity
cross-section
Synchronization Motion Control API
_DMC_01_sync_move Start motion sync
_DMC_01_sync_move_config Enable/disable motion sync
Remote I/O Module Control API
_DMC_01_get_rm_input_value Retrieve the value for bit 0 to bit 15 of the remote I/O
module's input port
_DMC_01_set_rm_input_filter Set software filter level for input port of the remote
I/O module
_DMC_01_set_rm_input_filter_enable Enable software mask for bit 0 to bit 15 of the
remote I/O module's input port
_DMC_01_set_rm_output_value Set the value for bit 0 to bit 15 of the remote I/O
module's output port
_DMC_01_set_rm_output_value_error_ha Set the output value returned when remote I/O
ndle module encounters an error
_DMC_01_get_rm_output_value Get output of remote I/O module
_DMC_01_get_rm_output_value_error_ha Get output of remote I/O module and decide
ndle whether to retain or discard value if there is an error
_DMC_01_set_rm_output_active Enable/disable output from remote I/O module
MPG and JOG Operation API
_DMC_01_set_rm_mpg_axes_enable Set MPG motion control
_DMC_01_set_rm_mpg_axes_enable2 MPG motion control (can numerator for motor
rotation ratio)
_DMC_01_set_rm_jog_axes_enable Set JOG motion control
4-Channel Pulse Interface API
_DMC_01_set_rm_04pi_ipulse_mode Set input phase mode for pulse interface module
_DMC_01_set_rm_04pi_opulse_mode Set output phase mode for pulse interface module
_DMC_01_set_rm_04pi_svon_polarity Set POWER ON (SVON) level
_DMC_01_set_rm_04pi_DO2 Enable DO2 port
_DMC_01_set_rm_04pi_homing_ratio Set homing torque ratio
_DMC_01_04pi_set_poweron Enable/disable POWER ON (SVON)
_DMC_01_rm_04PI_get_buffer Get buffered motion command
4-Channel Pulse Interface (Mode 1) Motion Control API
_DMC_01_rm_04pi_md1_start_move Perform 1-axis motion control under RM04PI Mode 1.
_DMC_01_rm_04pi_md1_v_move Perform velocity motion control under RM04PI Mode 1.
_DMC_01_rm_04pi_md1_start_line2 Perform 2-axis linear interpolation motion control
under RM04PI Mode 1
under RM04PI Mode 1
under RM04PI Mode 1
_DMC_01_rm_04pi_md1_start_arc Perform 2-axis arc interpolation motion control
under RM04PI Mode 1

_DMC_01_rm_04pi_md1_start_arc2 Perform 2-axis arc interpolation motion control
under RM04PI Mode 1
_DMC_01_rm_04pi_md1_start_arc3 Perform 2-axis arc interpolation motion control
under RM04PI Mode 1
_DMC_01_rm_04pi_md1_start_heli Perform 3-axis spiral interpolation motion control
under RM04PI Mode 1
_DMC_01_rm_04pi_md1_p_change Replace current position value with new position
value under RM04PI Mode 1
_DMC_01_rm_04pi_md1_v_change Replace current velocity with new velocity value
under RM04PI Mode 1
_DMC_01_rm_04pi_md1_set_gear Enable and set Gear parameters under RM04PI
Mode 1
_DMC_01_rm_04pi_md1_set_soft_limit Enable/disable software limit under RM04PI Mode 1
_DMC_01_rm_04pi_md1_get_soft_limit_st Get current 4-axis software limit contact status
atus under RM04PI Mode 1
_DMC_01_rm_04pi_md1_set_sld Enable SLD port (DI3) and set profile
_DMC_01_rm_04pi_md1_get_mc_error_c When alarm code is 299, get motion control error
ode message under RM04PI Mode 1
_DMC_01_set_rm_04pi_ref_counter Select reference counter for re-connection under
RM04PI Mode 1
4-Channel Analog Output Remote I/O Module API
_DMC_01_rm_04da_set_output_value Set DA output value
_DMC_01_rm_04da_get_output_value Read DA output
_DMC_01_rm_04da_get_return_code Read DA status
_DMC_01_rm_04da_set_output_range Set DA output range
_DMC_01_rm_04da_set_output_enable Enable/disable pin output
_DMC_01_rm_04da_set_output_overrange Increase output range by 10%
_DMC_01_rm_04da_set_output_error_clear Clear error status
_DMC_01_rm_04da_read_data Get current DA number
_DMC_01_rm_04da_set_output_error_ha Keep original DA settings if the connection is broken
ndle
_DMC_01_rm_04da_set_output_offset_va Set DA offset
lue
_DMC_01_rm_04da_get_output_offset_va Read DA offset
lue

4-Channel Analog Input Remote Module API
_DMC_01_set_04ad_input_range Set AD input range
_DMC_01_get_04ad_input_range Get current AD Input range
_DMC_01_set_04ad_zero_scale Set AD zero level for range calibration
_DMC_01_get_04ad_zero_scale_status Check if AD zero calibration is complete
_DMC_01_set_04ad_full_scale Set AD maximum level for range calibration
_DMC_01_get_04ad_full_scale_status Check if AD maximum level calibration is complete
_DMC_01_set_04ad_conversion_time Set AD conversion time
_DMC_01_get_04ad_conversion_time Get current AD conversion time
_DMC_01_get_04ad_data Read input voltage
_DMC_01_set_04ad_average_mode Set AD average mode
_DMC_01_get_04ad_average_mode Get AD average mode
_DMC_01_set_04ad_input_enable Enable/disable AD Channel Input feedback
Slave Data
_DMC_01_get_devicetype Get Slave device type
_DMC_01_get_slave_version Get Slave device firmware version
Parameter Monitoring API
_DMC_01_set_monitor Set parameter to monitor
_DMC_01_get_monitor Get value for monitored parameter
_DMC_01_get_servo_command Get servo drive command value
_DMC_01_get_servo_DI Get servo drive DI message value
_DMC_01_get_servo_DO Get servo drive DO message value
Alarm Message API
_DMC_01_set_ralm Reset output servo drive alarm message
_DMC_01_get_alm_code Get Slave alarm code
_DMC_01_master_alm_code Get the Master Card connection alarm code
_DMC_01_slave_error Get number of consecutive errors during Slave
communication
Multi-Axis Motion Control API
_DMC_01_multi_axes_move Set motion control for more than 2 axes
_ DMC_01_liner_speed_master Set multi-axis linear motion control velocity
_DMC_01_start_v3_multi_axes Multi-axis (more than 2 axes) motion control with
added EndVel
Buffer Operation API
_DMC_01_set_trigger_buf_function Use DI3 (SLD) trigger to get buffer data
Interrupt API
_DMC_01_set_int_factor Set interrupt mode. Total of 8 modes available.
_DMC_01_int_enable Enable interrupt feedback
_DMC_01_int_disable Disable disable interrupt.
_DMC_01_get_int_count Interrupt count.
_DMC_01_get_int_status Get current interrupt status
_DMC_01_Link_interrupt Link handling procedure. Called if interrupt enabled.
Security API
_DMC_01_read_security Master Card: read security data at specified memory
block
_DMC_01_read_security_status Master Card: get read/write status of current
memory
_DMC_01_write_security Master Card: write security data to specified
memory block
_DMC_01_write_security_status Master Card: write memory to function enable
before writing security data
_DMC_01_check_userpassword Master Card: check user has read/write access to
memory
_DMC_01_write_ userpassword Master Card: change password
_DMC_01_check_verifykey Master Card: check verify key
_DMC_01_write_ verifykey Master Card: write verify key
_DMC_01_read_serialno Master Card: read product serial number
_misc_slave_check_userpassword Slave(04PI): check user has read/write access to
memory
_misc_slave_write_userpassword Slave(04PI): change password
_misc_slave_get_serialno Slave(04PI): read product serial number
_misc_security Encrypt and generate verify key from User Key and
SerialNo
_misc_slave_write_verifykey Slave(04PI): write verify key
_misc_slave_check_verifykey Slave(04PI): check verify key
_misc_slave_user_data_buffer_read Slave(04PI): read data from specified memory block
_misc_slave_user_data_buffer_write Slave(04PI): write security data to specified memory
block
_misc_slave_user_data_to_flash Slave(04PI): write data from Buffer to Flash
Limit Reversal API
_DMC_01_rm_04pi_set_MEL_polarity Set negative limit direction
_DMC_01_rm_04pi_get_MEL_polarity Get negative limit status
_DMC_01_rm_04pi_set_PEL_polarity Set positive limit direction
_DMC_01_rm_04pi_get_PEL_polarity Get positive limit status
Compare API
_DMC_01_set_compare_channel_position Set new Channel Position
_DMC_01_get_compare_channel_position Read current Channel position
_DMC_01_set_compare_ipulse_mode Set input phase mode for pulse interface module
_DMC_01_set_compare_channel_direction Set Channel pulse direction
_DMC_01_set_compare_channel_trigger_ Set Trigger enable time
time
_DMC_01_set_compare_channel_one_ Set Trigger to one-time enable
shot
_DMC_01_set_compare_channel_source Compare source
_DMC_01_channel0_position_cmp Set Compare Type to Compare0
_DMC_01_channel1_output_enable Set Compare1 output to enable/disable
_DMC_01_channel1_output_mode Compare1 output mode
_DMC_01_channel1_get_io_status Read Compare1 status
_DMC_01_channel1_set_gpio_out Set GPIO output pin status
_DMC_01_channel1_position_compare_ Set Compare1 to standard Compare data
table
_DMC_01_channel1_position_compare_ Set Compare1 to custom Compare data
table_level
_DMC_01_channel1_position_compare_ Read Compare counter
table_cnt
_DMC_01_set_compare_channel_polarity Set Compare polarity
_DMC_01_channel0_position_cmp_by_ Set Compare trigger to GPIO control
gpio
_DMC_01_channel1_position_re_compare Use previous Compare condition and-execute
_table Channel1 Compare again
_DMC_01_channel1_position_re_compare Use previous Compare condition and-execute
_table_level Channel1 Compare (Level mode) again
Linear and Arc Interpolation Motion Control API
_DMC_01_start_rline_xy 2-axis linear, arc R-angle interpolation motion
control
_DMC_01_start_rline_xyz 3-axis linear, arc R-angle interpolation motion
control
_DMC_01_start_v3_rline_xy 2-axis linear, arc interpolation motion control with
added EndVel
_DMC_01_start_v3_rline_xyz 3-axis linear, arc interpolation motion control with
added EndVel
Speed Continue API
_DMC_01_speed_continue Get endpoint coordinates (X, Y) required for arc
interpolation
_DMC_01_speed_continue_mode Get center point coordinates (X, Y) required for arc
interpolation
_DMC_01_speed_continue_combine_ratio Is Debug log function enabled
Other API
_misc_app_get_circle_endpoint Get endpoint coordinates (X, Y) required for arc
interpolation
_misc_app_get_circle_center_point Get center point coordinates (X, Y) required for arc
interpolation
_misc_set_record_debuging Is Debug log function enabled
_misc_open_record_debuging_file Set Debug output log file path
_DMC_01_enable_dda_mode Enable DDA Table writing function
_DMC_01_set_dda_data Enter DDA Table data
_DMC_01_get_dda_cnt Get number of remaining entries in DDA Table

(This page intentionally left blank.)

Chapter 5 Hardware Initialization API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 5 Hardware Initialization API
Table 5.1
Function Name Description
_DMC_01_open Initialize system resources when program is
run
_DMC_01_close Release all system resources
_DMC_01_get_CardNo_seq Get the number of all PCI-DMC-A01 interface
cards on the system
_DMC_01_pci_initial Initialize this PCI card
_DMC_01_get_card_version Get motion card version

5.1 _DMC_01_open
 FORMAT
I16 PASCAL _DMC_01_open (I16* existcard)
 Purpose
Initializes system resources when program is run.
 Parameters
Name Data Type Unit Description
To get the number of these cards installed in the
Existcard I16* cards
system
 Example
I16 existCards;
I16 status = _DMC_01_open (&existCards);
5.2 _DMC_01_close
 FORMAT
Void PASCAL _DMC_01_close ()
 Purpose
Releases all system resources.
 Parameters
No parameters.
 Example
U16 CardNo=0;
_DMC_01_close ();

5.3 _DMC_01_get_CardNo_seq
 FORMAT
I16 PASCAL _DMC_01_get_CardNo_seq(U16 CardNo_seq,U16* CardNo)
 Purpose
Retrieves the number of all PCI-DMC-A01 interface cards in the system.
 Parameters
CardNo_seq U16 Number Unit Serial number
Interface Card No is between 0~15 and is Set
CardNo U16* Number Unit
using SW1.
 Example
/* When there is only one PCI-DMC-A01 in the system and the SW1 is set to 3, then the Card
No is 3 for that card.
When 2 or more PCI-DMC-A01 are connected to the system, the CardNo will be the SW1
value on the first 1 PCI-DMC-A01 detected. The CardNo of other cards are then acquired
one by one.
For more information about setting SW1, please see PCI-DMC-A01 User Manual Section
1.5.5. */
When one PCI-DMC-A01 is installed in the system:

U16 CardNo_seq = 0;
U16 CardNo;
U16 status = _DMC_01_get_CardNo_seq(CardNo_seq, &CardNo);
When two or more PCI-DMC-A01 are installed in the system:

U16 CardNo_seq = 0;
U16 CardNo;
U16 status;
I16 existCards; //For the value of existCards, please see _DMC_01_open API in Section 5.1
of the Programming Manual.
for(CardNo_seq=0; CardNo_seq <existCards; CardNo_seq ++)
{
status = _DMC_01_get_CardNo_seq(CardNo_seq, &CardNo);
}

5.4 _DMC_01_pci_initial
 FORMAT
I16 PASCAL _DMC_01_pci_initial (U16 CardNo)
 Purpose
Initializes this PCI card.
 Parameters
CardNo U16 Number Unit CardNo is between 0~15
 Example
U16 CardNo = 0;
_DMC_01_pci_initial (CardNo);
5.5 _DMC_01_get_card_version
 FORMAT
I16 PASCAL _DMC_01_get_card_version (U16 CardNo, U16 *ver)
 Purpose
Retrieves the motion card version.
 Parameters
Motion card version data.
Ver U16* Number 0X6x is PCI_DMC_A01
0X7x is PCI_DMC_B01
 ※PCI_DMC_A01 Motion Card Version 0x64 now provides GPIO with Input x 8/Output x
4.
 Example
U16 CardNo = 0;
U16 ver;
_ DMC_01_get_card_version (CardNo,&ver);

Chapter 6 Interface API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 6 Interface API
Table 6.1
_DMC_01_initial_bus Initialize external bus
_DMC_01_start_ring Start ring communication
_DMC_01_get_device_table Get device table
_DMC_01_get_node_table Get node table
_DMC_01_check_card_running Check to see if card is running
_DMC_01_reset_card Reset selected card
_DMC_01_check_nodeno Check to see if node already exists
_DMC_01_get_master_connect_status Get the connection status between the Master
Card and expansion module
_DMC_01_get_mailbox_Error Get number of MailBox errors
_DMC_01_get_mailbox_cnt Get MailBox counter value
_DMC_01_get_dsp_cnt Get Interrupt counter value
_DMC_01_set_dio_output Set GPIO output pin status
_DMC_01_get_dio_output Get GPIO output pin status
_DMC_01_get_dio_input Get GPIO input pin status
_DMC_01_get_cycle_time Get current cycle time for finding/checking
devices

6.1 _DMC_01_initial_bus
 FORMAT
I16 PASCAL _DMC_01_initial_bus (U16 CardNo)
 Purpose
Initializes the external bus.
 Parameters
 Example
U16 CardNo = 0;
I16 status = _DMC_01_initial_bus (CardNo);
6.2 _DMC_01_start_ring
 FORMAT
I16 PASCAL _DMC_01_start_ring (U16 CardNo, U8 RingNo)
 Purpose
Starts ring communication.
 Parameters
RingNo U8 Number Unit Number of ring to operate
 Example
U16 CardNo = 0;
U8 RingNo = 0;
I16 status = _DMC_01_start_ring (CardNo, RingNo);

6.3 _DMC_01_get_device_table
 FORMAT
I16 PASCAL _DMC_01_get_device_table (U16 CardNo, U16* value)
 Purpose
Retrieves the device table.
 Parameters
value U16* Number Unit Device number table
 Example
U16 CardNo=0;
U16 value=0;
I16 status = _DMC_01_get_device_table (CardNo, &value);
6.4 _DMC_01_get_node_table
 FORMAT
I16 PASCAL _DMC_01_get_node_table (U16 CardNo, U32* NodeIDTable)
 Purpose
Retrieves the Node ID table.
 Parameters
NodeIDTable U32* Number Unit Node ID table
 Example
U16 CardNo=0;
U32 NodeIDTable=0;
I16 status= _DMC_01_get_node_table( CardNo, &NodeIDTable);

6.5 _DMC_01_check_card_running
 FORMAT
I16 PASCAL _DMC_01_check_card_running (U16 CardNo, U16* running)
 Purpose
Checks to see if the card is running.
 Parameters
0: Not executed
running U16* Selection
1: Already executed
 Example
U16 CardNo=0;
U16 running=0;
I16 status= _DMC_01_check_card_running (CardNo, &running)
6.6 _DMC_01_reset_card
 FORMAT
I16 PASCAL _DMC_01_reset_card (U16 CardNo)
 Purpose
Resets the selected card.
 Parameters
 Example
U16 CardNo=0;
I16 status = _DMC_01_reset_card (CardNo);

6.7 _DMC_01_check_nodeno
 FORMAT
I16 PASCAL _DMC_01_check_nodeno(U16 CardNo, U16 NodeID,U16 SlotID,U16* exist)
 Purpose
Checks to see if the node already exists.
 Parameters
NodeID U16 Number Unit Node ID
SlotID U16 Number Unit Slot ID
0: Node ID does not exist
exist U16* Selection
1: Node ID exists
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID =0; //If Slot ID is set to 0, then the Slave is a servo drive
U16 exist =0;
I16 status= _DMC_01_check_nodeno (CardNo, NodeID, SlotID, &exist);

6.8 _DMC_01_get_master_connect_status
 FORMAT
I16 PASCAL _DMC_01_get_master_connect_status (U16 CardNo, U16* Protocol)
 Purpose
Retrieves the connection status between the Master Card and the expansion module.
 Parameters
1: No link to module Node1
Protocol U16* Selection 3: Link with module Node1 normal
4: Link with module Node1 broken
 Example
U16 CardNo=0;
U16 Protocol =0;
I16 status = _DMC_01_get_master_connect_status (CardNo, &Protocol);
6.9 _DMC_01_get_mailbox_Error
 FORMAT
I16 PASCAL _DMC_01_get_mailbox_Error (U16 CardNo, U32* error_cnt)
 Purpose
Retrieves the number of MailBox errors.
 Parameters
error_cnt U32* Number Unit Value of MailBox error counter
 Example
U16 CardNo=0;
U32 error_cnt =0;
I16 status= _DMC_01_get_mailbox_Error (CardNo, &error_cnt);

6.10 _DMC_01_get_mailbox_cnt
 FORMAT
I16 PASCAL _DMC_01_get_mailbox_cnt (U16 CardNo, U32* PC_cnt, U32* DSP_cnt)
 Purpose
Retrieves the MailBox counter value.
 Parameters
PC_cnt U32* Frequency Mailbox counter value from PC
DSP_cnt U32* Frequency Mailbox counter value from DSP
 Example
U16 CardNo = 0;
U32 PC_cnt = 0, DSP_cnt = 0;
I16 status = _DMC_01_get_mailbox_cnt (CardNo, &PC_cnt, &DSP_cnt);
6.11 _DMC_01_get_dsp_cnt
 FORMAT
I16 PASCAL _DMC_01_get_dsp_cnt (U16 CardNo, U32* int_cnt, U32* main_cnt)
 Purpose
Retrieves the Interrupt counter value.
 Parameters
Number of interrupts generated while
int_cnt U32* Frequency
establishing communications
Number of interrupts generated while
main_cnt U32* Frequency
establishing DSP
 Example
U16 CardNo=0;
U32 int_cnt =0, main_cnt=0;
I16 status= _DMC_01_get_dsp_cnt (CardNo, &int_cnt, &main_cnt);

6.12 _DMC_01_set_dio_output
 FORMAT
I16 PASCAL _DMC_01_set_dio_output (U16 CardNo, U16 On_Off)
 Purpose
Sets GPIO output pin status.
 Parameters
0: Disable
On_Off U16 Selection
1: Enable
 Example
U16 CardNo=0;
U16 On_Off =1;
I16 status= _DMC_01_set_dio_output (CardNo, On_Off);
6.13 _DMC_01_get_dio_output
 FORMAT
I16 PASCAL _DMC_01_get_dio_output (U16 CardNo, U16* On_Off)
 Purpose
Retrieves GPIO output pin status.
 Parameters
0: Disable
On_Off U16* Selection
1: Enable
 Example
U16 CardNo = 0;
U16 On_Off = 0;
I16 status = _DMC_01_get_dio_output (CardNo, &On_Off);

6.14 _DMC_01_get_dio_input
 FORMAT
I16 PASCAL _DMC_01_get_dio_input (U16 CardNo, U16* On_Off)
 Purpose
Retrieves GPIO input pin status.
 Parameters
0: Disable
On_Off U16* Selection
1: Enable
 Example
U16 CardNo=0;
U16 On_Off =0;
I16 status= _DMC_01_get_dio_input (CardNo, &On_Off);
6.15 _DMC_01_get_cycle_time
 FORMAT
I16 PASCAL _DMC_01_get_cycle_time (U16 CardNo, I32 *time)
 Purpose
Retrieves current cycle time for finding/checking devices. Time must be less than 1000 us.
 Parameters
time I32* Number Time value must be less than 1000
 Example
U16 CardNo=0;
I32 taskTime=0;
/* Get device cycle time. Value of taskTime must be less than 1000 */
I16 status= _DMC_01_get_cycle_time (CardNo, &taskTime);

6.16 _DMC_01_initial_bus2
 FORMAT
I16 PASCAL _DMC_01_initial_bus2 ( )
 Purpose
Initializes all external buses.
 Parameters
Function has no parameters.
 Example
I16 status= _DMC_01_initial_bus2 ( );
6.17 _DMC_01_motion_cnt
 FORMAT
I16 PASCAL _DMC_01_motion_cnt (U16 CardNo, U16 NodeID, U16 SlotID,
U16 *pc_mc_cnt, U16 *dsp_mc_cnt)
 Purpose
Retrieves MailBox and DSP counter values.
 Parameters
pc_mc_cnt U16* Number MailBox Command count on PC
dsp_mc_cnt U16* Number Command count that DSP got from MailBox
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 pc_mc_cnt;
U16 dsp_mc_cnt;
I16 status= _DMC_01_motion_cnt (CardNo, NodeID, SlotID, &pc_mc_cnt, &pc_mc_cnt);

Chapter 7 Servo Drive Parameter Read/Write API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 7 Servo Drive Parameter

Read/Write API
Table 7.1
_DMC_01_read_servo_parameter Read servo drive parameter data
_DMC_01_write_servo_parameter Write servo drive parameter data

7.1 _DMC_01_read_servo_parameter
 FORMAT
I16 PASCAL _DMC_01_read_servo_parameter (U16 CardNo, U16 NodeID, U16 SlotID,
U16 group,U16 idx,U32* data)
 Purpose
Reads servo drive parameter.
 Parameters
group U16 Number Device (Servo) group number
idx U16 Number Index value for Servo parameter group
data U32* Number Data returned by group index
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID = 0;
U16 group = 3;
U16 idx = 0; // In this example, you will read Servo parameter “P3-00”
U32 data;
I16 status= _DMC_01_read_servo_parameter(CardNo, NodeID, SlotID, group, idx, &data);

7.2 _DMC_01_write_servo_parameter
 FORMAT
I16 PASCAL _DMC_01_write_servo_parameter (U16 CardNo, U16 NodeID, U16 SlotID,
U16 group,U16 idx,U32 data)
 Purpose
Writes servo drive parameter.
 Parameters
group U16 Number Device (Servo) group number
idx U16 Number Index value for Servo parameter group
data U32 Number Data to write to group index
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID = 0;
U16 group = 3;
U16 idx = 0; // In this example, you will write the data to Servo parameter “P3-00”
U32 data = 1;
I16 status= _DMC_01_write_servo_parameter(CardNo, NodeID, SlotID, group, idx, data);


Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 8 Using SDO Protocol API
Table 8.1
_DMC_01_check_canopen_lock Under SDO mode, check to see if next
command can be executed
_DMC_01_get_canopen_ret Get data returned by CANopen (SDO related
data)
_DMC_01_set_pdo_mode Set to use CANopen protocol (PDO or SDO)
_DMC_01_send_message Send SDO command message to data buffer
Send SDO command message to data buffer
_DMC_01_send_message3
and exit data buffer once command is set
_DMC_01_read_message Read last SDO command message into data
buffer
Read the last SDO command message into
_DMC_01_read_message2
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

8.1 CANopen SDO protocol
※Sample SDO Packet Format for CANopen 1 – Index Read/Write successful
When Index read is “Successful”, the return value is in the following format:
Table 8.2
Field
Datatype Index low Index high Sub index Data1 Data2 Data3 Data4
name:
Command 0x40 0x64 0x60 0x00 0x00 0x00 0x00 0x00
Return 0x43 0x64 0x60 0x00 0x11 0x22 0x33 0x44
Table description:
(1) Read Feedback PUU (CANopen's Index is set as 0x6064 and SubIdx set as 0x00).
(2) Datatype is set as 0x40 to indicate read.
(3) Datatype is then returned as 0x43.
If the returned Datatype is 0x43, then the data received is 32bit [Data1~Data4 all valid].
If value is 0x4b, then the data received is 16bit [Data1~Data2 are valid].
If value is 0x4f, then the data received is 8bit [Data1 is valid].
(4) Data1~Data4 fields are read from the low Word first. Higher invalid data are all 0.
The value returned by the above table to indicate that it has received Feedback PUU is
therefore 0x44332211.
When Index write is “Success”, the return value is in the following format:
Table 8.3
Field
name:
Command 0x2b 0x40 0x60 0x00 0x08 0x00 0x00 0x00
Return 0x60 0x40 0x60 0x00 0x00 0x00 0x00 0x00
Table description:
(1) Write control code ControlWord (CANopen's Index is set as 0x6040 and SubIdx set as
0x00).
(2) Datatype set to 0x2b to indicate write.
(3) If entered Datatype value is 0x23 this means the data being written is 32bit [Data1~Data4
all valid].
Input value of 0x2b means data being written is 16bit [Data1~Data2 are valid].
Input value of 0x2f means data being written 8bit [Data1 is valid].
(4) If the returned Datatype is 0x60, this means the write was successful; Data1 ~ Data4
returned at this time are not applicable.

(5) Data1~Data4 fields use low Word first. Higher Data that are invalid is replaced by 0.
Based on the above, the control code returned by the array to indicate data has been
written is a ControlWord with the value 0x00000008.
(6) The Index data length is based on Delta Electronics' ASDA-A2 CANopen Technical
Guide.

※Sample SDO Packet Format for CANopen2 – Index Read/Write failure
When index read is “Failed” (no such index), the return value is in the following format:
Table 8.4
Field Sub
Datatype Index low Index high Data1 Data2 Data3 Data4
name: index
Return 0x80 0x59 0x60 0x00 0x00 0x00 0x02 0x06
Table description:
(1) Read an invalid index (Here CANopen's Index is set as 0x6059 and SubIdx as 0x00).
(2) Datatype is set as 0x40 to indicate read.
(3) There is no such index in the servo, so read fails. Datatype is then returned 0x80 to
indicate read failure.
(4) The field in the above table indicates that the returned data made up of Data1~Data4 is
0x06020000 indicating the [No Such Index] error.
(5) For a detailed explanation, please refer to Delta Electronics SDA-A2 CANopen Technical
Guide's section on SDO Abort Code.
When Index write “fail” (The value is out of the set range), the return value is in the following
format:
Table 8.5
Field Index Sub
Datatype Index high Data1 Data2 Data3 Data4
name: low index
Command 0x2f 0x60 0x60 0x00 0x0F 0x00 0x00 0x00
Return 0x80 0x60 0x60 0x00 0x30 0x00 0x09 0x06
Table description:
(1) Write operation mode (Here CANopen's Index value is set as 0x6060 and SubIdx is set as
0x00).
(2) Datatype is set as 0x2f to indicate the data being written is 8 bit [Data1 is valid].
(3) As the operating range is between 0x00~0x07, this command is written as operation
failed / Subsequent datatype then returns a value of 0x80 to indicate write failed.
(4) The field in above table The above table shows that the data made up of Data1~Data4 is
the 0x06090030 [Write value out of range] error code.
(5) The Index data length is based on Delta Electronics' ASDA-A2 CANopen Technical
Guide.
For a detailed explanation, please refer to Delta Electronics SDA-A2 CANopen Technical
Guide's section on SDO Abort Code.

※Sample SDO Packet Format for CANopen 3 – Read/Write ASDA-A2 Parameter
When reading the ASDA-A2 parameter, the return value is in the following format:
Table 8.6
Field
name:
Return 0x4b 0x00 0x23 0x00 0x7F 0x00 0x00 0x00
Table description:
(1) Can use the standard CANopen SDO format to read from A2 parameter.
(2) P3-00[Node ID] (CANopen's Index is set as 0x2300 and SubIdx is set as 0x00).
Format: P- [Servo parameter] ←→ 0x2 [Index value] (Expressed as
hexadecimal).
If Index is set as 0x2300 this means read parameter at P3-00
If Index is set as 0x212D this means read parameter at P1-45 (2D is the
hexadecimal notation for 45)
(3) SubIdx are all set to 0x00.
To write to ASDA-A2 parameter, the return value is in the following format:
Table 8.7
Field Sub
Datatype Index low Index high Data1 Data2 Data3 Data4
name: index
Command 0x2b 0x00 0x23 0x00 0x7F 0x00 0x00 0x00
Return 0x60 0x00 0x23 0x00 0x00 0x00 0x00 0x00
Table description:
(1) Can use the standard CANopen SDO format to write to A2 parameter.
(2) P3-00[Node ID] (CANopen's Index is set as 0x2300 and SubIdx is set as 0x00).
Format: P- [Servo parameter] ←→ 0x2 [Index value] (Expressed as
hexadecimal).
(3) SubIdx are all set to 0x00.
(4) ASDA-A2 parameter's data length is 16bit or 32bit
(5) You may refer to the ASDA-A2 EDS file to find the DataType for the corresponding
parameter Index.
If DataType 3, data length is 16 bit and the DataType for command write should be 0x2b
If DataType 4, data length is 32 bit and the DataType for command write should be 0x23b

8.2 _DMC_01_check_canopen_lock
 FORMAT
I16 PASCAL _DMC_01_check_canopen_lock (U16 CardNo, U16 *lock)
 Purpose
Checks to see if the next command can be executed under SDO mode.
 Parameters
0: Not locked. Can execute next command.
lock U16* Selection 1: Locked, must wait for current execution to
finishing executing.
 Example
U16 CardNo=0;
U16 lock;
I16 status = _DMC_01_check_canopen_lock (CardNo, &lock);

8.3 _DMC_01_get_canopen_ret
 FORMAT
I16 PASCAL _DMC_01_get_canopen_ret (U16 CardNo, U16* COBID, U8* value)
 Purpose
Retrieves data returned by CANOPEN (SDO related data).
 Parameters
COBID U16* Number CAN object ID
Data contained within object
Value[0]: SDO Message response
If content is 32-bit long, value is 43
If content is 16-bit long, value is 4b
If content is 8-bit long, value is 4f
Write successful, value is 60
Error report, value is 80
value U8* Number
Value[1]: Index(Low byte)
Value[2]: Index(High byte)
Value[3]: Sub index
Value[4]: Data low word (Low byte)
Value[5]: Data low word (High byte)
Value[6]: Data high word (Low byte)
Value[7]: Data high word (High byte)
 Example
U16 CardNo=0;
U16 COBID=0;
U8 value[8]={0};
I16 status= _DMC_01_get_canopen_ret (CardNo, &COBID, value);

8.4 _DMC_01_set_pdo_mode
 FORMAT
I16 PASCAL _DMC_01_set_pdo_mode (U16 CardNo, U16 NodeID, U16 SlotID, U16 Enable)
 Purpose
Sets the use of CANopen protocol (PDO or SDO).
 Parameters
0: PDO: DisablePDO, use SDO
Enable U16 Selection
1: PDO: enable PDO
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0; //If Slot ID is set to 0, then the Slave is a servo drive
U16 Enable=1;
I16 status= _DMC_01_set_pdo_mode (CardNo, NodeID, SlotID, Enable);

8.5 _DMC_01_send_message
 FORMAT
I16 PASCAL _DMC_01_send_message (U16 CardNo, U16 NodeID,U16 SlotID,
U16 Index,U16 SubIdx,U16 DataType,U16 Value0,U16 Value1,U16 Value2,U16 Value3)
 Purpose
Sends SDO command message to the data buffer. (This API function will wait for the
command to be sent before exiting)
 Parameters
CardNo U16 Number CardNo is between 0~15
Unit
NodeID U16 Number Node ID
Unit
SlotID U16 Number Slot ID
Unit
Index U16 Number Index of object dictionary
SubIdx U16 Number Sub-index of object dictionary
DataType U16 Number Datatype of object dictionary
Value0 U16 Message buffer (Data1) – index (Low byte),
Number
CMD (High byte)
Value1 U16 Message buffer (Data2) – Sub-Idx (High byte),
Number
index high (Low byte)
Value2 U16 Number Message buffer (Data3) – Data (Low byte)
Value3 U16 Number Message buffer (Data4) – Data (High byte)
 Example
/*
CardNo: Card No; NodeID: NodeID; SlotID: SlotID; Index: SDO Index; SubIdx: SDO
Subindex; DataType: (Read Command) Read data, set as 0x40; (Write Command)
Write 8-bit, set as 0x2f; (Write Command) Write 16-bit, set as 0x2f; (Write Command) Write
32-bit, set as 0x23f;
Value0: SDO data low word (Low byte), Value1: SDO data low word (High byte);
Value2: GSDO data high word (Low byte), Value3: GSDO data high word (High byte)
*/
U16 CardNo=0, NodeID=1, SlotID=0;
U16 Index=0x6060, SubIdx=0, DataType=0x2f, value0=0x1, value1=0, value2=0, value3=0;
I16 status= _DMC_01_send_message (CardNo, NodeID, SlotID, Index, SubIdx, DataType,
value0, value1, value2, value3);
8.6 _DMC_01_send_message3
 FORMAT
I16 _DMC_01_send_message3 (I16 CardNo, U16 Index,U16 SubIdx,U16 DataType,
U16 Value0,U16 Value1,U16 Value2,U16 Value3)
 Purpose
Sends SDO command message to the data buffer and exits the data buffer once the
command is sent.
 Parameters
CardNo U16 Number CardNo is between 0~15
Unit
DataType U16 Number Datatype of object dictionary
Value0 U16 Message buffer (Data1) – index (Low byte),
Number
CMD (High byte)
Value1 U16 Message buffer (Data2) – Sub-Idx (High byte),
Number
index high (Low byte)
Value2 U16 Number Message buffer (Data3) – Data (Low byte)
Value3 U16 Number Message buffer (Data4) – Data (High byte)
 Example
U16 CardNo=0;
U16 lock;
I16 status= _DMC_01_send_message3 (CardNo, Index, SubIdx, DataType, value0, value1,

value2, value3);
status = _DMC_01_check_canopen_lock (CardNo, &lock);
while(lock){ };
value0=0x2;
status= _DMC_01_send_message3 (CardNo, Index, SubIdx, DataType, value0, value1,
value2, value3);

8.7 _DMC_01_read_message
 FORMAT
I16 PASCAL _DMC_01_read_message (I16 CardNo, U16* Cmd, U16* COBID,
U16* DataType,U16* Value0,U16* Value1,U16* Value2,U16* Value3)
 Purpose
Reads the last SDO command message into the data buffer.
 Parameters
CardNo Number CardNo is between 0~15
U16
Unit
Cmd U16* Number Index of object dictionary
COBID U16* Number CAN object ID(0x580 + current Node ID)
DataType U16* Number Datatype of object dictionary
Message buffer (Data1) – Idx low (High byte),
Value0 U16* Number
CMD (Low byte)
Message buffer (Data2) – Sub-Idx (High byte)
Value1 U16* Number
Idx high (Low byte)
Value2 U16* Number Message buffer (Data3) – Data (Low byte)
Value3 U16* Number Message buffer (Data4) – Data (High byte)
 Example
/*
CardNo: Card No; NodeID: NodeID; Index: SDO Index; SubIdx: SDO Subindex;
DataType: (Read Command) Read data, set as 0x40; (Write Command) Write 8-bit, set as
0x2f;
(Write Command) Write 16-bit, set as 0x2f; (Write Command) Write 32-bit, set as 0x23f;
Value0: SDO data low word (Low byte), Value1: SDO data low word (High byte);
Value2: SDO data high word (Low byte), Value3: SDO data high word (High word);
*/
U16 CardNo=0,
U16 Cmd, COBID, DataType, Value0, Value1, Value2, Value3;
I16 status= _DMC_01_read_message (CardNo, &Cmd, & COBID, &DataType,
&Value0, &Value1, &Value2, &Value3);

8.8 _DMC_01_read_message2
 FORMAT
I16 PASCAL _DMC_01_read_message2 (I16 CardNo, U16 NodeID, U16 *Cmd,
U16 *COBID ,U16 *DataType,U16 *Value0,U16 *Value1,U16 *Value2,U16 *Value3,U16 *cnt)
 Purpose
Reads the last SDO command message into the data buffer and returns the number of reads.
 Parameters
Number
CardNo U16 CardNo is between 0~15
Unit
Number
NodeID U16 Node ID
Unit
COBID U16* Number CAN object ID(0x580 + current Node ID)
Value0 U16* Number
CMD (Low byte)
Value1 U16* Number
Idx high (Low byte)
cnt U16* Number Number of commands completed
 Example
U16 CardNo=0, Cmd, COBID, Value0, Value1, Value2, Value3, cnt, temp;
I16 status= _DMC_01_read_message2(CardNo, NodeID , &Cmd, &COBID, &DataType,

&Value0, &Value1, &Value2, &Value3, &cnt)
temp = cnt;
status= _DMC_01_send_message3 (CardNo, Index, SubIdx, DataType, value0, value1,
value2, value3);
status= _DMC_01_read_message2(CardNo, NodeID , &Cmd, &COBID, &DataType, &Value0,
&Value1, &Value2, &Value3, &cnt)
if(cnt-temp)
status= _DMC_01_send_message3 (CardNo, Index, SubIdx, DataType, value0,
value1,value2, value3);
8.9 _DMC_01_get_message
 FORMAT
I16 PASCAL _DMC_01_get_message (I16 CardNo, U16 NodeID, U16 SlotID, U16 Index,
U16* Cmd, U16* COBID, U16* DataType, U16* Value0, U16* Value1, U16* Value2,
U16* Value3)
 Purpose
Retrieves the SDO command message and places it in the data buffer.
 Parameters
Number
Unit
Number
NodeID U16 Node ID
Unit
Number
SlotID U16 Slot ID
Unit
COBID U16* Number CAN object ID
Value0 U16* Number
CMD (Low byte)
Value1 U16* Number
Idx high (Low byte)
Value3 U16* Number Message buffer (Data4) – Data (High byte)
 Example
U16 CardNo=0, NodeID=1, SlotID=0, Index=0x6060, SubIdx=0;
U16 Cmd, COBID, DataType, Value0, Value1, Value2, Value3;
I16 status= _DMC_01_get_message(CardNo, NodeID, SlotID, Index, SubIndex, &Cmd,

&COBID, &DataType, &Value0, &Value1, &Value2, &Value3);

8.10 _DMC_01_reset_sdo_choke
 FORMAT
I16 PASCAL _DMC_01_reset_sdo_choke (U16 CardNo)
 Purpose
Resets SDO when SDO command is blocked.
 Parameters
 Example
U16 CardNo=0;
I16 status= _DMC_01_reset_sdo_choke (CardNo);
8.11 _DMC_01_get_sdo_retry_history
 FORMAT
I16 PASCAL _DMC_01_get_sdo_retry_history (U16 CardNo, U32* cnt)
 Purpose
Retrieves the number of SDO resends.
 Parameters
cnt U32* Frequency Return number of SDO message resends
 Example
U16 CardNo=0;
U32 cnt=0;
I16 status= _DMC_01_get_sdo_retry_history (CardNo , &cnt);

Chapter 9 Point to Point Motion Control Packet Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 9 Point to Point Motion

Control Packet Protocol API
Table 9.1
_DMC_01_set_sdo_driver_speed_profile Set speed profile 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

9.1 _DMC_01_set_sdo_driver_speed_profile
 FORMAT
I16 PASCAL _DMC_01_set_sdo_driver_speed_profile (U16 CardNo, U16 NodeID,
U16 SlotID, U32 MaxVel, F64 acc, F64 dec)
 Purpose
Sets the speed profile for packet protocol.
 Parameters
Pulses per
MaxVel U32 Maximum velocity parameter
second
acc F64 Second Specified acceleration time
dec F64 Second Specified deceleration time
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID = 0; //If Slot ID is set to 0, then the Slave is a servo drive
U16 MaxVel =1000000;
F64 acc=0.1;
F64 dec=0.1;
I16 status= _DMC_01_set_sdo_driver_speed_profile (CardNo, NodeID, SlotID, MaxVel, acc,
dec);

9.2 _DMC_01_start_sdo_driver_r_move
 FORMAT
I16 PASCAL _DMC_01_start_sdo_driver_r_move (U16 CardNo, U16 NodeID, U16 SlotID,
I32 Distance)
 Purpose
Starts relative motion displacement.
 Parameters
Number of
Distance I32 Relative motion distance
pulses
 Example
U16 CardNo=0;
U16 NodeID =1;
I32 Distance =10000000;
I16 status= _DMC_01_start_sdo_driver_r_move (CardNo, NodeID, SlotID, Distance);

9.3 _DMC_01_start_sdo_driver_a_move
 FORMAT
I16 PASCAL _DMC_01_start_sdo_driver_a_move (I16 CardNo, U16 NodeID, U16 SlotID,
I32 Position)
 Purpose
Starts absolute motion displacement.
 Parameters
Position I32 Number of pulses Absolute motion position
 Example
U16 CardNo=0;
U16 NodeID =1;
I32 Position =10000000;
I16 status= _DMC_01_start_sdo_driver_a_move (CardNo, NodeID, SlotID, Position);

9.4 _DMC_01_start_sdo_driver_new_position_move
 FORMAT
I16 PASCAL _DMC_01_start_sdo_driver_new_position_move (I16 CardNo, U16 NodeID,
U16 SlotID, I32 Position,U16 abs_rel)
 Purpose
Performs motion displacement with new position value.
 Parameters
Position I32 Number Value of new position
0: Use absolute coordinates as reference
abs_rel U16 Selection
1: Use relative coordinates as reference
 Example
U16 CardNo=0;
U16 NodeID =1;
I32 Position =20000000;
U16 abs_rel =1; //Motion displacement using relative coordinates as a reference
I16 status= _DMC_01_start_sdo_driver_r_move (CardNo, NodeID, SlotID, Position, abs_rel);


Chapter 10 Homing Motion Control Packet Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 10 Homing Motion Control

Packet Protocol API
Table 10.1
_DMC_01_set_home_config Set home configuration
_DMC_01_set_home_move Start home motion
_DMC_01_escape_home_move Stop homing motion

10.1 _DMC_01_set_home_config
 FORMAT
I16 PASCAL _DMC_01_set_home_config (U16 CardNo,U16 NodeID,U16 SlotID ,
U16 Mode,I32 offset,U16 lowSpeed,U16 highSpeed,F64 acc)
 Purpose
Sets home configuration.
 Parameters
Mode U16 Selection Homing mode: 1~35 (See notes on next page)
Number of
offset I32 Homing offset
pulses
Revolutions Find the velocity parameter used by each limit
lowSpeed U16
per minute (Range:1~500)
Revolutions Velocity parameter to use for homing (Range:
highSpeed U16
per minute 1~2000)
acc F64 Second Acceleration time used for homing
※ The unit of lowSpeed and highSpeed parameters will vary depending on the connected Slave
module.
Servo Drive (ASDA-A2F) ➔ Revolutions per minute
Pulse interface module (RM04PI, GE01PI, GE01PH) ➔ Pulse/Sec
Linear motor➔ um/sec
 Example
U16 CardNo=0, NodeID =1, SlotID=0, Mode=1;
I32 offset =200;
U16 lowSpeed=200, highSpeed=2000;
F64 acc=0.1;
/* Use Homing mode*/

I16 status= _DMC_01_set_home_config (CardNo, NodeID, SlotID, Mode, offset, lowSpeed,
highSpeed, acc);

NOTE
#1. Homing mode using negative limit and index pulse message
Using this method, if the negative limit switch is disabled (low voltage level), then it will
begin by moving left. The home position is the index pulse offset to the right when it
touches the negative limit switch.
Figure 10.1
#2. Homing mode using positive limit and index pulse message
Using this method, if the positive limit switch is disabled (low voltage level) then it will
begin by moving right. The home position is the index pulse offset to the left when it
touches the negative limit switch.
Figure 10.2

#3 and #4. Homing using positive voltage level at Home Switch and index pulse message
When using method 3 or 4, the initial direction will depend on the current status of the
Home switch. The Home position depends on the index pulse to the left or right when the
Home switch status changes. If the initial position of the Homing is index pulse then it
must reverse direction of motion. Any further changes after the direction is reversed
depends on the current status of the Home switch.
Figure 10.3
#5 and #6. Homing using negative voltage level at Home Switch and index pulse message
When using method 5 or 6, the initial direction will depend on the current status of the
Home switch. The Home position depends on the index pulse to the left or right when the
Home switch status changes. If the initial position of the Homing is index pulse then it
must reverse direction of motion. Any further changes after the direction is reversed
depends on the current status of the Home switch.
Figure 10.4

#7 to 14. Homing mode based on index pulse and Home switch
These methods use a Home switch that is only activated during some types of motion. In
actual fact, it can be activated when Position passes the switch on that axis.
With methods 7 to 10, initial movement is to the right. With methods 11 to 14, initial
movement is to the left. If the Home switch is already activated at the start of motion, then
the direction it initially moves in will depend on the edge it finds. The home position for
this mode is at the index pulse on a Home switch located on either side of the positive or
negative edge. The two diagrams below show how if initial direction did not the Home
switch, this motion must come into contact with a limit switch before it reverses direction.
Figure 10.5
Figure 10.6

#15 and 16. Reserved
This is reserved for adding other homing modes in the future.
#17 to 30. Homing mode independent of index pulse

These methods are similar to methods 1 to 14. The difference being that these Homing
modes do not require an index pulse. Homing depends solely on switching Home and
limit switches. Example: Method 19 and 20 uses a homing mode similar to methods 3
and 4 as shown below in Fig. 11.7.
Figure 10.7
#31 and 32. Reserved

This is reserved for adding other homing modes in the future.
#33 and 34. Homing mode related to index pulse

With methods 33 and 34, the positive and negative direction of homing is determined by
the index pulse it detects.
Figure 10.8
#35. Homing based on current position

Mode 35 uses the current position as the Home.

10.2 _DMC_01_set_home_move
 FORMAT
I16 PASCAL _DMC_01_set_home_move (U16 CardNo, U16 NodeID, U16 SlotID)
 Purpose
Starts home motion.
 Parameters
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID=0; //If Slot ID is set to 0, then the Slave is a servo drive
I16 status= _DMC_01_set_home_move (CardNo, NodeID, SlotID);
NOTE
※ After executing _DMC_01_set_home_move, MDS0 in MC_status returned by

_DMC_01_motion_status API can be used to judge the Home status. Please set dwell
time of 30 ~ 100 ms after executing _DMC_01_set_home_move (this value can be
adjusted based on CPU performance and programming approach) before executing
_DMC_01_motion_status to ensure that the data is correct.

10.3 _DMC_01_escape_home_move
 FORMAT
I16 PASCAL _DMC_01_escape_home_move (U16 CardNo, U16 NodeID, U16 SlotID)
 Purpose
Stops homing motion.
 Parameters
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
I16 status= _DMC_01_escape_home_move (CardNo, NodeID, SlotID);

Chapter 11 Velocity Motion Control Packet Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 11 Velocity Motion Control

Packet Protocol API
Table 11.1
_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

11.1 _DMC_01_set_velocity_mode
 FORMAT
I16 PASCAL _DMC_01_set_velocity_mode (U16 CardNo, U16 NodeID, U16 SlotID,
F64 Tacc,F64 Tdec)
 Purpose
Sets the velocity motion control parameter profile.
 Parameters
Tacc F64 Second Specified acceleration time
Tdec F64 Second Specified deceleration time
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
F64 Tacc=0.1, Tdec=0.1;
/* Set velocity mode parameter (value for acceleration and deceleration time)) */
I16 status = _DMC_01_set_velocity_mode (CardNo, NodeID, SlotID, Tacc, Tdec);

11.2 _DMC_01_set_velocity
 FORMAT
I16 PASCAL _DMC_01_set_velocity (U16 CardNo, U16 NodeID, U16 SlotID,I32 rpm)
 Purpose
Starts velocity motion control.
 Parameters
rpm I32 Number Actual torque is 1/10 of this variable (RPM)
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
I32 rpm =-1000; //In this case, motion is counterclockwise so actual value of torque is |-1000| /
10 => 100RPM
I16 status= _DMC_01_set_velocity (CardNo, NodeID, SlotID, rpm);

11.3 _DMC_01_set_velocity_stop
 FORMAT
I16 PASCAL _DMC_01_set_velocity_stop (U16 CardNo,U16 NodeID,U16 SlotID,U16 stop)
 Purpose
Stops velocity motion control.
 Parameters
0: Maintain current velocity motion status
stop U16 Selection
1: Stop velocity motion
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 stop=1;
I16 rpm=2000; // /In this case, motion is clockwise so actual value of torque is |2000| / 10 =>
200RPM
/* Start velocity motion */

I16 status= _DMC_01_set_velocity (CardNo, NodeID, SlotID, rpm);
/* Stop current velocity motion */
status = _DMC_01_set_velocity_stop (CardNo, NodeID, SlotID, stop);

11.4 _DMC_01_set_velocity_torque_limit
 FORMAT
I16 PASCAL _DMC_01_set_velocity_torque_limit (U16 CardNo, U16 NodeID, U16 SlotID,
U32 torque_limit)
 Purpose
Sets the torque limit for velocity mode.
 Parameters
torque_limit U32 Number Maximum torque
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID=0;
U32 torque_limit =50;
I16 status= _DMC_01_set_velocity_torque_limit (CardNo, NodeID, SlotID, torque_limit);


Chapter 12 Torque Motion Control Packet Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 12 Torque Motion Control

Packet Protocol API
Table 12.1
_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

12.1 _DMC_01_set_torque_mode
 FORMAT
I16 PASCAL _DMC_01_set_torque_mode (U16 CardNo, U16 NodeID, U16 SlotID, U16
slope)
 Purpose
Sets the torque motion control parameter profile (slope value).
 Parameters
Time required to go from 0 to 100% rate
slope U16 ms
torque.
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 slope=500; // 500 ms
I16 status= _DMC_01_set_torque_mode (CardNo, NodeID, SlotID, slope);

12.2 _DMC_01_set_torque
 FORMAT
I16 PASCAL _DMC_01_set_torque (U16 CardNo, U16 NodeID, U16 SlotID, I16 ratio)
 Purpose
Starts torque motion.
 Parameters
Thousandths of rated torque. (CCW if less than
ratio I16 Number
zero and clockwise if otherwise)
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
I16 ratio=-50; // If ratio is 50 then -50 divided by 1000 means rated torque is 5% and motor is
running CCW
/* Set ratio and begin torque motion */

I16 status=_DMC_01_set_torque(CardNo, NodeID, SlotID, ratio);
// If value of ratio is less than 0 then motor is running CCW. If value is greater than 0, motor is
running clockwise.

12.3 _DMC_01_set_torque_stop
 FORMAT
I16 PASCAL _DMC_01_set_torque_stop (U16 CardNo, U16 NodeID, U16 SlotID, U16 stop)
 Purpose
Stops torque motion.
 Parameters
0: Current motion status.
stop U16 Selection
1: Stop torque motion
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 stop=1;
I16 ratio=100; // If value of ratio is 100, then 100 divided by 1000 means rated torque is 10%
and motor is running clockwise.
/* Set ratio and begin torque motion */

I16 status=_DMC_01_set_torque(CardNo, NodeID, SlotID, ratio);
/* Stop torque motion */
status= _DMC_01_set_torque_stop(CardNo, NodeID, SlotID, stop);

12.4 _DMC_01_set_torque_velocity_limit
 FORMAT
I16 PASCAL _DMC_01_set_torque_velocity_limit (U16 CardNo, U16 NodeID, U16 SlotID,
U32 velocity_limit)
 Purpose
Sets the velocity limit in torque mode.
 Parameters
velocity_limit U32 Number Velocity limit
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U32 velocity_limit =2000;
/* Set limit for Velocity. velocity_limit may not exceed 30000 */

I16 status=_DMC_01_set_torque_velocity_limit (CardNo, NodeID, SlotID, velocity_limit);


Chapter 13 Using PDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 13 Using PDO Protocol API
Table 13.1
_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

13.1 _DMC_01_ipo_set_svon
 FORMAT
I16 PASCAL _DMC_01_ipo_set_svon (U16 CardNo, U16 NodeID, U16 SlotID, U16 ON_OFF)
 Purpose
Sets Servo ON/OFF under PDO protocol mode.
 Parameters
0: Servo OFF
ON_OFF U16 Selection
1: Servo ON
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID =0;
U16 ON_OFF=1;
I16 status= _DMC_01_ipo_set_svon (CardNo, NodeID, SlotID, ON_OFF);

13.2 _DMC_01_get_buffer_length
 FORMAT
I16 PASCAL _DMC_01_get_buffer_length (U16 CardNo, U16 NodeID, U16 SlotID,
U16* bufferLength)
 Purpose
Retrieves the motion command which has yet to be executed.
 Parameters
bufferLength U16* Integer Un-executed motion command
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID =0;
U16 bufferLength;
I16 status;
/* Start synchronized motion control command */

status= _DMC_01_sync_move(CardNo);
/* Get un-executed motion commands from each Node */
status= _DMC_01_get_buffer_length (CardNo, NodeID, SlotID, &bufferLength);

13.3 _DMC_01_command_buf_clear
 FORMAT
I16 PASCAL _DMC_01_command_buf_clear (U16 CardNo, U16 NodeID, U16 SlotID)
 Purpose
Resets dwell time (buffer dwell counter value).
 Parameters
 Example
U16 CardNo=0; U16 NodeID =1; U16 SlotID=0; I32 dwell_cnt=3;
I16 status=_DMC_01_buf_dwell(CardNo, NodeID, SlotID, dwell_cnt); //Set dwell buffer
interval
status= _DMC_01_command_buf_clear (CardNo, NodeID,SlotID); //Clear dwell buffer interval

13.4 _DMC_01_buf_dwell
 FORMAT
I16 PASCAL _DMC_01_buf_dwell (I16 CardNo, U16 NodeID, U16 SlotID, I32 dwell_cnt)
 Purpose
The interval time between two motion commands.
 Parameters
Dwell buffer interval (Delay time is 2 x dwell_cnt
dwell_cnt I32 Frequency
+ 2)
 Example
U16 CardNo=0; U16 NodeID =1; U16 SlotID=0;
I32 dwell_cnt=3; //If dwell_cnt has a value of 0 then delay time is 4 ms; In this example, the
value is 3 so delay time is 2*3+2=8ms
I16 status=_DMC_01_buf_dwell (CardNo, NodeID, SlotID, dwell_cnt);

13.5 _DMC_01_set_group
 FORMAT
I16 PASCAL _DMC_01_set_group (U16 CardNo, U16* NodeID,U16* SlotID,
U16 NodeID_Num, U16 enable)
 Purpose
Sets a group.
 Parameters
NodeID_Num U16 Number Group number
0: Clear group.
Enable U16 Number Unit
1: Set as group.
 Example
U16 CardNo=0;
U16 NodeID[4] ={1,3,5};
U16 SlotID[4]={0,0,0};
U16 NodeID_Num=3; //Set 3 cards in the same group.
U16 enable=1;
I16 status=_DMC_01_set_group (CardNo, NodeID, SlotID, NodeID_Num, enable);

Chapter 14 Stop Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 14 Stop Motion Control API
Table 14.1
_DMC_01_emg_stop All motion commands in buffer will execute
immediate stop
_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

14.1 _DMC_01_emg_stop
 FORMAT
I16 PASCAL _DMC_01_emg_stop (U16 CardNo, U16 NodeID, U16 SlotID)
 Purpose
All motion commands in the buffer will execute an emergency stop.
 Parameters
 Example
U16 CardNo=0;U16 NodeID =1; U16 SlotID=0;
I16 status= _DMC_01_emg_stop (CardNo, NodeID, SlotID);

14.2 _DMC_01_sd_stop
 FORMAT
I16 PASCAL _DMC_01_sd_stop (U16 CardNo, U16 NodeID,U16 SlotID,F64 Tdec)
 Purpose
All motion commands in the buffer will execute a slow down stop based on deceleration time.
 Parameters
 Example
U16 CardNo=0, U16 NodeID =1, SlotID=0;
F64 Tdec=0.1;
I16 status= _DMC_01_sd_stop (CardNo, NodeID, SlotID, Tdec);

14.3 _DMC_01_sd_abort
 FORMAT
I16 PASCAL _DMC_01_sd_abort (U16 CardNo, U16 NodeID, U16 SlotID, F64 Tdec)
 Purpose
Current motion command will execute a slow down stop.
 Parameters
 Example
U16 CardNo=0, U16 NodeID =1, SlotID=0;
F64 Tdec=0.1;
I16 status= _DMC_01_sd_abort (CardNo, NodeID, SlotID, Tdec);

14.4 _DMC_01_set_sd_mode
 FORMAT
I16 PASCAL _DMC_01_set_sd_mode (U16 CardNo, U16 NodeID, U16 SlotID, U16 mode)
 Purpose
Sets the Sd_stop(slow down stop) mode.
 Parameters
0: position and command have the same value
(default)
Mode U16 Selection
1: value of position may be greater than
command
 Description
B
When slow down command is
issued at B, start deceleration time
stop. Stop when Position =
Command.
Figure 14.1 Sd Mode instructions (Mode = 0)
B When slow down command is

issued at B, start deceleration time
stop. Stop when Position >
Figure 14.2 Sd Mode instructions (Mode = 1)

 Example
U16 CardNo=0;
U16 NodeID =1, SlotID=0;
U16 Mode=1;
F64 Tdec=0.1;
I16 status= _DMC_01_set_sd_mode (CardNo, NodeID, SlotID, Mode);

Chapter 15 Motion Status API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 15 Motion Status API
Table 15.1
_DMC_01_motion_done Return current motion stage of the Master
Card
_DMC_01_motion_status Return current motion status of the Master
Card

15.1 _DMC_01_motion_done
 FORMAT
I16 PASCAL _DMC_01_motion_done (U16 CardNo, U16 NodeID, U16 SlotID,
U16* MC_status)
 Purpose
Returns the current stage of motion of the Master Card.
 Parameters
0: Stop motion displacement
1: Carry out motion displacement according to
acceleration time
MoSt U16* Selection 2: Carry out motion displacement according to
velocity limit
3: Carry out motion displacement according to
deceleration time
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID=0;
U16 MoSt=0;
I16 status= _DMC_01_motion_done (CardNo, NodeID, SlotID, &MoSt);

15.2 _DMC_01_motion_status
 FORMAT
I16 PASCAL _DMC_01_motion_status (U16 CardNo, U16 NodeID, U16 SlotID,
U32* MC_status)
 Purpose
Returns current motion status of the Master Card.
 Parameters
Motion status (bit0~bit15)
Byte Tag Description
Enable selection
0~3 Mode0 ~ Mode3
mode
DI3 (SLD) status
4 DI3
map
5 WR Alarm message
Data error
6 DR
message
7 TG Trigger mode bit
MoSt U32* Selection
Motor excitation
8 PWRON
enable bit
9 DriverErr Servo error bit
10 Target Target reached bit
Reserved, default
11 N/A
value is 0
12 MDS0 Mode specific
13 MDS1 Mode specific
14 PEL Positive limit bit
15 MEL Negative limit bit

Figure 15.1 Motion status
For a description of “Mode specific” bits” (bit 12 and bit 13), please see Table 15.2.
With the mode selection bits (bit 0 ~ bit 3) there are only 2 modes for the user to choose from.
These are MODE1 (bit 0 is ON) and MODE6 (bit 1 and bit 2 are ON)
Table 15.2 Mode specific bit description for motion status

Mode-specific
Mode item
Bit 13 is 1 Bit 12 is 1
Can carry out Homing
Homing mode (MODE6) Homing error
motion
DMCNET mode (MODE1) No Definition Mode enabled
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID=0;
U32 MoSt=0;
I16 status= _DMC_01_motion_status (CardNo, NodeID, SlotID, &MoSt);

Chapter 16 Motion Counter Value API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 16 Motion Counter Value API
Table 16.1
_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 current torque counter value
_DMC_01_get_current_speed Get motion speed
_DMC_01_get_current_speed_rpm Get current RPM multiplied by 10

16.1 _DMC_01_get_command
 FORMAT
I16 PASCAL _DMC_01_get_command (U16 CardNo, U16 NodeID, U16 SlotID, I32* cmd)
 Purpose
Retrieves the Command counter value.
 Parameters
Number of
cmd I32* Current value of Command counter
pulses
 Example
U16 CardNo=0, NodeID=1, SlotID=0; I32 cmd;
I16 status= _DMC_01_get_command (CardNo, NodeID, SlotID, &cmd);
16.2 _DMC_01_set_command
 FORMAT
I16 PASCAL _DMC_01_set_command (U16 CardNo, U16 NodeID, U16 SlotID, I32 cmd)
 Purpose
Sets the new Command counter value.
 Parameters
Number of
cmd I32 New Command counter value to be set
pulses
 Example
U16 CardNo=0, NodeID =1, SlotID=0; I32 cmd=1000000;
I16 status= _DMC_01_set_command (CardNo, NodeID, SlotID, cmd);

16.3 _DMC_01_get_position
 FORMAT
I16 PASCAL _DMC_01_get_position (U16 CardNo, U16 NodeID, U16 SlotID, I32* pos)
 Purpose
Retrieves the current position counter value.
 Parameters
Number of
pos I32* Returned current value of position counter
pulses
 Example
U16 CardNo=0, NodeID =1, SlotID=0; I32 pos;
I16 status= _DMC_01_get_position (CardNo, NodeID, SlotID, &pos);
16.4 _DMC_01_set_position
 FORMAT
U16 PASCAL _DMC_01_set_position (U16 CardNo, U16 NodeID, U16 SlotID, I32 pos)
 Purpose
Sets the new position counter value.
 Parameters
Number of
pos I32 Set position counter value.
pulses
 Example
U16 CardNo=0, NodeID =1, SlotID=0; I32 pos =500000;
I16 status= _DMC_01_set_position (CardNo, NodeID, SlotID, pos);

16.5 _DMC_01_get_target_pos
 FORMAT
I16 PASCAL _DMC_01_get_target_pos (U16 CardNo, U16 NodeID, U16 SlotID, I32* pos)
 Purpose
Retrieves the current value of the target position.
 Parameters
Number of Position counter value for current position (see
pos I32*
pulses the Notes below for explanation)
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID = 0;
I32 pos=0;
I16 status= _DMC_01_get_target_pos (CardNo, NodeID, &pos);
NOTE
※ After issuing a motion command, if you are relying on _DMC_01_get_target_pos to

return the pos so you can decide the next step, put in a delay of 10~100ms (this value
can be adjusted based on CPU performance and programming approach) before
executing _DMC_01_get_target_pos to ensure that the data is correct.

16.6 _DMC_01_get_torque
 FORMAT
I16 PASCAL _DMC_01_get_torque (U16 CardNo, U16 NodeID, U16 SlotID, U16* torque)
 Purpose
Retrieves and returns the current torque counter value.
 Parameters
torque U16* Number Current torque
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID=0;
U16 torque;
I16 status= _DMC_01_get_torque (CardNo, NodeID, SlotID, &torque);

16.7 _DMC_01_get_current_speed
 FORMAT
I16 PASCAL _DMC_01_get_current_speed (U16 CardNo, U16 NodeID, U16 SlotID,
I32* speed)
 Purpose
Retrieves motion speed.
 Parameters
Pulses per
speed I32* Retrieves motion speed
second
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID=0;
I32 speed;
I16 status= _DMC_01_get_current_speed (CardNo, NodeID, SlotID, &speed);

16.8 _DMC_01_get_current_speed_rpm
 FORMAT
I16 PASCAL _DMC_01_get_current_speed_rpm (U16 CardNo, U16 NodeID, U16 SlotID,
I32 *rpm)
 Purpose
Retrieves current RPM x 10.
 Parameters
rpm I32* Revolutions/second Actual torque is 1/10 of this variable (RPM)
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID=0;
I32 rpm;
I16 status= _DMC_01_get_current_speed_rpm (CardNo, NodeID, SlotID, &rpm);

// If you get a torque value of 1000, the actual speed is 100RPM.


Chapter 17 Software Limit API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 17 Software Limit API
Table 17.1
_DMC_01_set_soft_limit Sets 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 Retrieves the positive/negative status of the
software limit during motion

17.1 _DMC_01_set_soft_limit
 FORMAT
I16 PASCAL _DMC_01_set_soft_limit (U16 CardNo, U16 NodeID, U16 SlotID, I32 PLimit,
I32 NLimit)
 Purpose
Sets reference values for software positive/negative limits.
 Parameters
PLimit I32 Number Value of positive software limit
NLimit I32 Number Value of negative software limit
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID =0;
I32 PLimit =8000;
I32 NLimit =2000;
I16 status= _DMC_01_set_soft_limit (CardNo, NodeID, SlotID, PLimit, NLimit);

17.2 _DMC_01_enable_soft_limit
 FORMAT
I16 PASCAL _DMC_01_enable_soft_limit (U16 CardNo, U16 NodeID, U16 SlotID, I16 Action)
 Purpose
Enables/disables the software limit and stop method after touching the limit.
 Parameters
1: Emergency stop after touching limit
Action I16 Selection
2: Slow down stop after touching limit
 Example
U16 CardNo=0, NodeID =1, SlotID=0;
I16 Action=1; // Select emergency stop after touching limit
I16 status= _DMC_01_enable_soft_limit (CardNo, NodeID, SlotID, Action);
17.3 _DMC_01_disable_soft_limit
 FORMAT
I16 PASCAL _DMC_01_disable_soft_limit (U16 CardNo, U16 NodeID,U16 SlotID)
 Purpose
Disables the software limit.
 Parameters
 Example
I16 status = _DMC_01_disable_soft_limit(CardNo, NodeID, SlotID);

17.4 _DMC_01_get_soft_limit_status
 FORMAT
I16 PASCAL _DMC_01_get_soft_limit_status (U16 CardNo, U16 NodeID, U16 SlotID,
U16* PLimit_sts,U16* NLimit_sts)
 Purpose
Retrieves the positive/negative status of the software limit during motion.
 Parameters
0: No contact with positive software limit
PLimit_sts U16* Flag
1: Contact with positive software limit
0: No contact with negative software limit
NLimit_sts U16* Flag
1: Contact with negative software limit
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 PLimit_sts, NLimit_sts;
I16 status= _DMC_01_get_soft_limit_status(CardNo, NodeID, SlotID, &PLimit_sts,
&NLimit_sts)

Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 18 1-Axis Motion Control API
Table 18.1
_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
_DMC_01_start_sr_move_2seg 2nd motion displacement using relative
_DMC_01_start_ta_move_2seg 2nd motion displacement using absolute
_DMC_01_start_sa_move_2seg 2nd motion displacement using absolute
_DMC_01_start_tr_move_2seg2 2nd motion displacement using relative
_DMC_01_start_sr_move_2seg2 2nd motion displacement using relative
_DMC_01_start_ta_move_2seg2 2nd motion displacement using absolute
_DMC_01_start_sa_move_2seg2 2nd motion displacement using absolute
_DMC_01_feedrate_overwrite Change motion speed or speed ratio
_DMC_01_start_v3_move Single-axis motion displacement with EndVel
added
18.1 _DMC_01_start_tr_move
 FORMAT
I16 PASCAL _DMC_01_start_tr_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 Dist,
I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec)
 Purpose
Motion displacement using relative coordinates with T-curve velocity cross-section. Please
see Fig. 18.1 for more detailed information.
※When setting StrVel, make sure its value is smaller than MaxVel.
 Parameters
Dist I32 Number of pulses Specified distance in relative coordinates
StrVel I32 Pulses per second Starting velocity
MaxVel I32 Pulses per second Maximum velocity
 Description
Figure 18.1 Motion displacement using relative coordinates with T-curve velocity cross-section
 Example
I32 Dist=100000, StrVel=0, MaxVel=50000;
F64 Tacc=0.1, Tdec=0.1;
I16 status= _DMC_01_start_tr_move (CardNo, NodeID, SlotID, Dist, StrVel, MaxVel, Tacc,
Tdec);

18.2 _DMC_01_start_sr_move
 FORMAT
I16 PASCAL _DMC_01_start_sr_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 Dist,
 Purpose
Motion displacement using relative coordinates with S-curve velocity cross-section. Please
see Fig. 18.2 for more detailed information.
 Parameters
Dist I32 Number of pulses Specified distance in relative coordinates
MaxVel I32 Pulses per second Maximum velocity
 Description
Figure 18.2 Motion displacement using relative coordinates with S-curve velocity cross-section
 Example
I32 Dist=100000, StrVel=0, MaxVel=30000;
F64 Tacc=0.1, Tdec=0.1;
I16 status= _DMC_01_start_sr _move (CardNo, NodeID, SlotID, Dist, StrVel, MaxVel, Tacc,
Tdec);

18.3 _DMC_01_start_ta_move
 FORMAT
I16 PASCAL _DMC_01_start_ta_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 Dist,
 Purpose
Motion displacement using absolute coordinates with T-curve velocity cross-section.
 Parameters
Number of
Dist I32 Specified distance in absolute coordinates
pulses
Pulses per
StrVel I32 Starting velocity
second
Pulses per
MaxVel I32 Maximum velocity
second
 Example
I32 Dist=100000;
I32 StrVel=0, MaxVel=50000;
F64 Tacc=0.1, Tdec=0.1;
I16 status= _DMC_01_start_ta_move (CardNo, NodeID, SlotID, Dist, StrVel, MaxVel, Tacc,
Tdec);

18.4 _DMC_01_start_sa_move
 FORMAT
I16 PASCAL _DMC_01_start_sa_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 Dist,
 Purpose
Carries out motion displacement using absolute coordinates with S-curve velocity
cross-section
 Parameters
Number of
Dist I32 Specified distance in absolute coordinates
pulses
Pulses per
second
Pulses per
second
 Example
I32 Dist=100000;
F64 Tacc=0.1, Tdec=0.1;
I16 status= _DMC_01_start_sa_move (CardNo, NodeID, SlotID, Dist, StrVel, MaxVel, Tacc,
Tdec);

18.5 _DMC_01_p_change
 FORMAT
I16 PASCAL _DMC_01_p_change (U16 CardNo, U16 NodeID, U16 SlotID, I32 NewPos)
 Purpose
Replaces the current position with a new position value.
 Parameters
Number of
NewPos I32 Position parameter to be replaced
pulses
 Example
U16 CardNo=0;U16 NodeID =1, SlotID=0;
I32 NewPos=100000;
I16 status= _DMC_01_p_change (CardNo, NodeID, SlotID, NewPos);

18.6 _DMC_01_v_change
 FORMAT
I16 PASCAL _DMC_01_v_change (U16 CardNo, U16 NodeID, U16 SlotID, I32 NewSpeed,
F64 sec)
 Purpose
Replaces the current motion velocity with a new velocity value.
 Parameters
Pulses per
NewSpeed I32 Velocity parameter to be changed
second
Specified acceleration/deceleration time for
sec F64 Second
velocity change.
 Description
T-Curve S-Curve
Figure 18.3 Changing the velocity parameter
 Example
U16 CardNo=0;U16 NodeID =1, SlotID=0;
I32 NewSpeed=3000;
F64 sec=0.1;
I16 status= _DMC_01_v_change (CardNo, NodeID, SlotID, NewSpeed, sec);

NOTE
※ The V-change command can be used in both single- and multi-axis motions. For
multi-axis motion, simply issue the command to the main servo.

18.7 _DMC_01_start_tr_move_2seg
 FORMAT
I16 PASCAL _DMC_01_start_tr_move_2seg(U16 CardNo, U16 NodeID,U16 SlotID, I32 Dist,
I32 Dist2, I32 StrVel, I32 MaxVel, I32 MaxVel2, F64 Tacc, F64 Tsec, F64 Tdec)
 Purpose
2nd motion displacement using relative coordinates with T-curve velocity cross-section.
 Parameters
Dist I32 Number of pulses Relative coordinates for first segment
Dist2 I32 Number of pulses Relative coordinates for second segment
MaxVel I32 Pulses per second Maximum velocity for first segment
MaxVel2 I32 Pulses per second Maximum velocity for second segment
Acceleration/deceleration time when
Tsec F64 Second switching from first segment to second
segment
Tdec F64 Second Deceleration time
 Description
(Gray area indicates Dist, white area indicates Dist2)

 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID=0;
I32 Dist=500000;
I32 Dist2=500000
I32 StrVel=1000;
I32 MaxVel=10000;
I32 MaxVel2=30000;
F64 Tacc=0.1;
F64 Tsec=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_tr_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,

※Please note that Dist and Dist2 in the API parameters must be in the “same direction”. An
example of incorrect settings is shown in Fig. 18.5.
Figure 18.5 Incorrect settings: Dist and Dist2 are not in the same direction

18.8 _DMC_01_start_sr_move_2seg
 FORMAT
I16 PASCAL _DMC_01_start_sr_move_2seg(U16 CardNo, U16 NodeID,U16 SlotID, I32 Dist,
 Purpose
2nd motion displacement using relative coordinates with S-curve velocity cross-section.
※Motion Buffer will be cleared before this function is executed.
 Parameters
Number of
Dist I32 Relative coordinates for first segment
pulses
Number of
Dist2 I32 Relative coordinates for second segment
pulses
Pulses per
second
Pulses per
MaxVel I32 Maximum velocity for first segment
second
Pulses per
MaxVel2 I32 Maximum velocity for second segment
second
Acceleration/deceleration time when switching
Tsec F64 Second
from first segment to second segment
 Example
I32 Dist=500000, Dist2=500000
I32 StrVel=1000;
I32 MaxVel=10000, MaxVel2=30000;
F64 Tacc=0.1;
F64 Tsec=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_sr_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
18.9 _DMC_01_start_ta_move_2seg
 FORMAT
I16 PASCAL _DMC_01_start_ta_move_2seg(U16 CardNo, U16 NodeID,U16 SlotID, I32 Dist,
 Purpose
2nd motion displacement using absolute coordinates with T-curve velocity cross-section.
 Parameters
Number of
Dist I32 Absolute coordinates for first segment
pulses
Number of
Dist2 I32 Absolute coordinates for second segment
pulses
Pulses per
second
Pulses per
second
Pulses per
second
Tsec F64 Second
 Example
I32 Dist=500000, Dist2=500000
I32 StrVel=1000;
F64 Tacc=0.1;
F64 Tsec=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_ta_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
18.10 _DMC_01_start_sa_move_2seg
 FORMAT
I16 PASCAL _DMC_01_start_sa_move_2seg(U16 CardNo, U16 NodeID,U16 SlotID, I32 Dist,
 Purpose
2nd motion displacement using absolute coordinates with S-curve velocity cross-section.
 Parameters
Number of
pulses
Number of
pulses
Pulses per
second
Pulses per
second
Pulses per
second
Tsec F64 Second
 Example
I32 Dist=500000, Dist2=500000
I32 StrVel=1000;
F64 Tacc=0.1;
F64 Tsec=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_sa_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
18.11 _DMC_01_start_tr_move_2seg2
 FORMAT
I16 PASCAL _DMC_01_start_tr_move_2seg2 (U16 CardNo, U16 NodeID,U16 SlotID, I32 Dist,
 Purpose
2nd motion displacement using relative coordinates with T-curve velocity cross-section.
 Parameters
Dist I32 Number of pulses Relative coordinates for first segment
Dist2 I32 Number of pulses Relative coordinates for second segment
MaxVel I32 Pulses per second Maximum velocity for first segment
MaxVel2 I32 Pulses per second Maximum velocity for second segment
Acceleration/deceleration time when
Tsec F64 Second switching from first segment to second
segment
 Description
(Gray area indicates Dist, white area indicates Dist2)

 Example
I32 Dist=500000, Dist2=500000
I32 StrVel=1000;
F64 Tacc=0.1;
F64 Tsec=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_tr_move_2seg2 (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,


18.12 _DMC_01_start_sr_move_2seg2
 FORMAT
I16 PASCAL _DMC_01_start_sr_move_2seg2 (U16 CardNo, U16 NodeID,U16 SlotID, I32
Dist, I32 Dist2, I32 StrVel, I32 MaxVel, I32 MaxVel2, F64 Tacc, F64 Tsec, F64 Tdec)
 Purpose
2nd motion displacement using relative coordinates with S-curve velocity cross-section.
 Parameters
Number of
Dist I32 Relative coordinates for first segment
pulses
Number of
Dist2 I32 Relative coordinates for second segment
pulses
Pulses per
second
Pulses per
second
Pulses per
second
Tsec F64 Second
 Example
I32 Dist=500000, Dist2=500000
I32 StrVel=1000;
F64 Tacc=0.1;
F64 Tsec=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_sr_move_2seg2 (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
18.13 _DMC_01_start_ta_move_2seg2
 FORMAT
I16 PASCAL _DMC_01_start_ta_move_2seg2 (U16 CardNo, U16 NodeID,U16 SlotID, I32
 Purpose
2nd motion displacement using absolute coordinates with T-curve velocity cross-section.
 Parameters
Number of
pulses
Number of
pulses
Pulses per
second
Pulses per
second
Pulses per
second
Tsec F64 Second
 Example
I32 Dist=500000, Dist2=500000
I32 StrVel=1000;
F64 Tacc=0.1;
F64 Tsec=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_ta_move_2seg2 (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
18.14 _DMC_01_start_sa_move_2seg2
 FORMAT
I16 PASCAL _DMC_01_start_sa_move_2seg2 (U16 CardNo, U16 NodeID,U16 SlotID, I32
 Purpose
2nd motion displacement using absolute coordinates with S-curve velocity cross-section.
 Parameters
Number of
pulses
Number of
pulses
Pulses per
second
Pulses per
second
Pulses per
second
Tsec F64 Second
 Example
I32 Dist=500000, Dist2=500000
I32 StrVel=1000;
F64 Tacc=0.1;
F64 Tsec=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_sa_move_2seg2 (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
18.15 _DMC_01_feedrate_overwrite
 FORMAT
I16 PASCAL _DMC_01_feedrate_overwrite (U16 CardNo, U16 NodeID, U16 SlotID,
U16 Mode, I32 New_Speed, F64 sec)
 Purpose
Changes motion speed or speed ratio.
 Parameters
0: Like V_Change, this changes speed of
current motion.
1: Can be executed whether there is a motion
in progress or not. Changes the velocity for the
Mode U16 Selection current and all subsequent motions.
2: Can be executed whether there is a motion
in progress or not. Changes the speed ratio of
current and all subsequent motions. Range is
0% ~ 1000%.
Pulses per
second
sec F64 Second
velocity change.
 Description
Figure 18.7 Mode = 0 change to new speed

※ Starting at point A, set NewSpeed to

15000.
Speed now 200%, or double the original
from now on including the buffer
Figure 18.8 Mode = 1 change to new speed
※Starting at point A, set NewSpeed to 200.

Speed now 200%, or double the original
from now on for all commands including
those in the buffer.
Figure 18.9 Mode = 2 change to new speed ratio
 Example
U16 CardNo=0; U16 NodeID =1, SlotID=0, Mode=0;
I32 NewSpeed=3000;
F64 sec=0.1;
I16 status= _DMC_01_feedrate_overwrite (CardNo, NodeID, SlotID, Mode, NewSpeed, sec);

18.16 _DMC_01_start_v3_move
 FORMAT
I16 PASCAL _DMC_01_start_v3_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 Dist,
I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 m_curve, U16 m_r_a)
 Purpose
Single-axis motion displacement with EndVel added.
※Values of StrVel and EndVel can be greater than ConstVel.
 Parameters
Number of
Dist I32 Specified motion path
pulses
Pulses per
second
Pulses per
ConstVel I32 Constant velocity
second
Pulses per
EndVel I32 End velocity
second
TPhase1 F64 Second Time from StartVel to ConstVel
TPhase2 F64 Second Time from ConstVel to EndVel
1: T-curve
m_curve U16 Selection
2: S-curve
0: Relative motion displacement
m_r_a U16 Selection
1: Absolute motion displacement

 Description
Figure 18.10 Explanation of TPhase1 and TPhase2

 Example
U16 CardNo=0; U16 NodeID =1, SlotID=0;
I32 Dist=100000, StrVel=0, ConstVel=50000, EndVel=20000;
F64 TPhase1=0.2, TPhase2=0.1;
U16 m_curve=1, m_r_a=0;
I16 status= _DMC_01_start_v3_move (CardNo, NodeID, SlotID, Dist, StrVel, ConstVel,

EndVel, TPhase1, TPhase2, m_curve, m_r_a);

Chapter 19 2-Axis Linear Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 19 2-Axis Linear

Interpolation Motion Control API
Table 19.1
_DMC_01_start_tr_move_xy 2-axis Linear interpolation motion using relative
_DMC_01_start_sr_move_xy 2-axis Linear interpolation motion using relative
_DMC_01_start_ta_move_xy 2-axis Linear interpolation motion using absolute
_DMC_01_start_sa_move_xy 2-axis Linear interpolation motion using absolute
_DMC_01_start_v3_move_xy 2-axis linear interpolation motion with EndVel
added

19.1 _DMC_01_start_tr_move_xy
 FORMAT
I16 PASCAL _DMC_01_start_tr_move_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 DisX,
I32 DisY, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec)
 Purpose
2-axis linear interpolation motion using relative coordinates with T-curve velocity
cross-section.
※When setting StrVel, make sure that its value is smaller than MaxVel.
 Parameters
Node ID of card used for motion displacement
CardNo U16 Number Unit
along X-axis and Y-axis
Holds Node ID sets used for linear
interpolation
NodeIDArray U16* Number Unit
NodeIDArray[0] holds the 1st set of Node ID
NodeIDArray[1] holds the 2nd set of Node ID
SlotID U16* Number Unit Slot ID
Relative path parameter for motion of Node
DisX I32 Number of pulses
ID on X-axis
DisY I32 Number of pulses
ID on Y-axis
StrVel I32 Pulses per second Starting velocity parameter
MaxVel I32 Pulses per second Maximum velocity parameter

 Description
As shown in Fig. 19.1, 2-axis linear interpolation means Position moving by X and Y from P0 to
P1. The two axes will start and end at the same time. Motion displacement will also be on the
same straight line.
Y-Axis
DistY
DistX
X-Axis
Figure 19.1 Figure 19.2
The relationship between speed ratio and velocity when moving along the X and Y axes
(DistX:DistY) is as follows:
2 2
P  DistX   DistY 
    
t  t   t 
From the above, as shown in Fig. 19.2, it can be seen that the relationship between Maximum
velocity (MaxVel), speed of X-axis (speed X), and speed of Y-axis (speed Y) is as follows:
 Example
U16 CardNo=0;
U16 NodeIDArray[2]={1,2};
U16 SlotID[2] ={0, 0};
I32 DisX=30000;
I32 DisY=40000;
I32 StrVel=0;
I32 MaxVel=3000;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_tr_move_xy (CardNo, NodeIDArray, SlotID, DistX, DistY, StrVel,

MaxVel, Tacc, Tdec);
// When MaxVel is set as 3000RPM, speed X is then 1800RPM; speed Y is 2400RPM

19.2 _DMC_01_start_sr_move_xy
 FORMAT
I16 PASCAL _DMC_01_start_sr_move_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 DisX,
 Purpose
2-axis linear interpolation motion using relative coordinates with S-curve velocity
cross-section.
 Parameters
Holds Node ID sets used for linear interpolation
NodeIDArray U16* Number Unit NodeIDArray[0] holds the 1st set of Node ID
Number of Relative path parameter for motion of Node
DisX I32
pulses ID on X-axis
Number of Relative path parameter for motion of Node
DisY I32
pulses ID on Y-axis
Pulses per
StrVel I32 Starting velocity parameter
second
Pulses per
MaxVel I32 Maximum velocity parameter
second

 Example
U16 CardNo=0;
U16 SlotID[2] ={0, 0};
I32 DisX=50000;
I32 DisY 100000;
I32 StrVel=0;
I32 MaxVel=50000;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_sr_move_xy (CardNo, NodeIDArray, SlotID, DistX, DistY, StrVel,

19.3 _DMC_01_start_ta_move_xy
 FORMAT
I16 PASCAL _DMC_01_start_ta_move_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 DisX,
 Purpose
2-axis linear interpolation motion using absolute coordinates with T-curve velocity
cross-section.
 Parameters
Number of Absolute path parameter for motion of Node
DisX I32
pulses ID on X-axis
DisY I32
pulses ID on Y-axis
Pulses per
second
Pulses per
second

 Example
U16 CardNo=0;
U16 SlotID[2] ={0, 0};
I32 DisX=50000;
I32 DisY 100000;
I32 StrVel=0;
I32 MaxVel=50000;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_ta_move_xy (CardNo, NodeIDArray, SlotID, DistX, DistY, StrVel,


19.4 _DMC_01_start_sa_move_xy
 FORMAT
I16 PASCAL _DMC_01_start_sa_move_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 DisX,
 Purpose
2-axis linear interpolation motion using absolute coordinates with S-curve velocity
cross-section.
 Parameters
DisX I32
pulses ID on X-axis
DisY I32
pulses ID on Y-axis
Pulses per
second
Pulses per
second

 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 DisX=50000;
I32 DisY 100000;
I32 StrVel=0;
I32 MaxVel=50000;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_sa_move_xy (CardNo, NodeIDArray, SlotID, DistX, DistY, StrVel,


19.5 _DMC_01_start_v3_move_xy
 FORMAT
I16 PASCAL _DMC_01_start_v3_move_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 DisX,
I32 DisY, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 m_curve,
U16 m_r_a)
 Purpose
2-axis linear interpolation motion with EndVel added.
※Values of StrVel and EndVel can be greater than MaxVel.
 Parameters
Number of Distance corresponding to motion of Node ID on
DisX I32
pulses X-axis
Number of
DisY I32 Path for motion of Node ID on Y-axis
pulses
Pulses per
second
Pulses per
second
Pulses per
second
1: GT-curve
2: GS-curve
m_r_a U16 Selection

 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 DisX=50000;
I32 DisY= 100000;
I32 StrVel=0;
I32 ConstVel=50000;
I32 EndVel=20000;
F64 TPhase1=0.2;
F64 TPhase2=0.1;
I16 status= _DMC_01_start_v3_move_xy (CardNo, NodeIDArray, SlotID, DistX, DistY, StrVel,

ConstVel, EndVel, TPhase1, TPhase2, m_curve, m_r_a);


Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 20 2-Axis Arc Interpolation

Motion Control API
Table 20.1
_DMC_01_start_tr_arc_xy 2-axis arc interpolation motion using relative
angle)
_DMC_01_start_sr_arc_xy 2-axis arc interpolation motion using relative
angle)
_DMC_01_start_ta_arc_xy 2-axis arc interpolation motion using absolute
angle)
_DMC_01_start_sa_arc_xy 2-axis arc interpolation motion using absolute
angle)

_DMC_01_start_spiral_xy 2-axis spiral motion (Known conditions: Center
_DMC_01_start_spiral2_xy 2-axis spiral motion (Known conditions: Center
coordinates for X and Y axes, endpoint
_DMC_01_start_v3_arc_xy 2-axis arc interpolation motion with EndVel
added (Known conditions: Center point
coordinates, angle)
_DMC_01_start_v3_arc2_xy 2-axis arc interpolation motion with EndVel
added (Known conditions: Endpoint coordinates,
angle)
_DMC_01_start_v3_arc3_xy 2-axis arc interpolation motion with EndVel
added (Known conditions: Center point
coordinates, endpoint coordinates)
_DMC_01_start_v3_spiral_xy 2-axis spiral motion with EndVel added (Known
conditions: Center coordinates for X and Y axes)
_DMC_01_start_v3_spiral2_xy 2-axis spiral motion with EndVel added (Known
conditions: Center coordinates for X and Y axes,
endpoint coordinates for X and Y axes)

20.1 _DMC_01_start_tr_arc_xy
 FORMAT
I16 PASCAL _DMC_01_start_tr_arc_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, F64 Angle, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec)
 Purpose
2-axis arc interpolation motion using relative coordinates with T-curve velocity cross-section
(Known conditions: center point coordinates, angle).
 Parameters
Holds Node ID sets used for arc interpolation
Number of Relative center point X-coordinate on the
Center_X I32
pulses specified axis
Number of Relative center point Y-coordinate on the
Center_Y I32
Angle F64 Degree (°) Set arc angle. One full arc is 360o
Pulses per
second
Pulses per
MaxVel I32 Tangential velocity parameter
second

 Description
Figure 20.1
 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 Center_X =50000;
I32 Center_Y =50000;
I32 StrVel=0;
I32 MaxVel=50000;
F64 Angle=180;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_tr_arc_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,

Angle, StrVel, MaxVel, Tacc, Tdec);

20.2 _DMC_01_start_sr_arc_xy
 FORMAT
I16 PASCAL _DMC_01_start_sr_arc_xy(U16 CardNo, U16* NodeID,U16* SlotID,
 Purpose
2-axis arc interpolation motion using relative coordinates with S-curve velocity cross-section
 Parameters
Relative center point X-coordinate on the
Center_X I32 Number of pulses
specified axis
Relative center point Y-coordinate on the
Center_Y I32 Number of pulses
specified axis
Pulses per
second
Pulses per
second

 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 StrVel=0;
I32 MaxVel=50000;
F64 Angle=180;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_sr_arc_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,


20.3 _DMC_01_start_ta_arc_xy
 FORMAT
I16 PASCAL _DMC_01_start_ta_arc_xy(U16 CardNo, U16* NodeID,U16* SlotID,
 Purpose
2-axis arc interpolation motion using absolute coordinates with T-curve velocity cross-section
 Parameters
Node ID of card used for motion
displacement along X-axis and Y-axis
Number of Absolute center point X-coordinate on the
Center_X I32
Number of Absolute center point Y-coordinate on the
Center_Y I32
Pulses per
second
Pulses per
second

 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 StrVel=0;
I32 MaxVel=50000;
F64 Angle=180;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_ta_arc_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,


20.4 _DMC_01_start_sa_arc_xy
 FORMAT
I16 PASCAL _DMC_01_start_sa_arc_xy(U16 CardNo, U16* NodeID,U16* SlotID,
 Purpose
2-axis arc interpolation motion using absolute coordinates with S-curve velocity cross-section
 Parameters
Holds Node ID sets used for arc
interpolation
NodeIDArray[1] holds the 2nd set of Node
ID
Absolute center point X-coordinate on the
specified axis
Absolute center point Y-coordinate on the
specified axis
MaxVel I32 Pulses per second Tangential velocity parameter

 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 StrVel=0;
I32 MaxVel=50000;
F64 Angle=180;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_sa_arc_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,


20.5 _DMC_01_start_tr_arc2_xy
 FORMAT
I16 PASCAL _DMC_01_start_tr_arc2_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 End_X,
I32 End_Y, F64 Angle, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec)
 Purpose
(Known conditions: endpoint coordinates, angle).
 Parameters
Holds Node ID sets used for arc
interpolation
NodeIDArray[0] holds the 1st set of Node
ID
NodeIDArray[1] holds the 2nd set of Node
ID
Relative endpoint X-coordinate on the
End_X I32 Number of pulses
specified axis
Relative endpoint Y-coordinate on the
End_Y I32 Number of pulses
specified axis

 Description
Figure 20.2
 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 End_X =-50000;
I32 End_Y =-50000;
I32 StrVel=0;
I32 MaxVel=50000;
F64 Angle=180;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_tr_arc2_xy (CardNo, NodeIDArray, SlotID, End_X, End_Y, Angle,

StrVel, MaxVel, Tacc, Tdec);

20.6 _DMC_01_start_sr_arc2_xy
 FORMAT
I16 PASCAL _DMC_01_start_sr_arc2_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 End_X,
 Purpose
 Parameters
Relative endpoint X-coordinate on the specified
axis
Relative endpoint Y-coordinate on the specified
axis
Pulses per
second
Pulses per
second

 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 End_X =-50000;
I32 End_Y =-50000;
I32 StrVel=0;
I32 MaxVel=50000;
F64 Angle=180;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_sr_arc2_xy (CardNo, NodeIDArray, SlotID, End_X, End_Y, Angle,


20.7 _DMC_01_start_ta_arc2_xy
 FORMAT
I16 PASCAL _DMC_01_start_ta_arc2_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 End_X,
 Purpose
 Parameters
Absolute endpoint X-coordinate on the
specified axis
Absolute endpoint Y-coordinate on the
specified axis
Pulses per
second
Pulses per
second

 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 End_X =-50000;
I32 End_Y =-50000;
I32 StrVel=0;
I32 MaxVel=50000;
F64 Angle=180;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_ta_arc2_xy (CardNo, NodeIDArray, SlotID, End_X, End_Y, Angle,


20.8 _DMC_01_start_sa_arc2_xy
 FORMAT
I16 PASCAL _DMC_01_start_sa_arc2_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 End_X,
 Purpose
 Parameters
specified axis
specified axis
Pulses per
second
Pulses per
second

 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 End_X =-50000;
I32 End_Y =-50000;
I32 StrVel=0;
I32 MaxVel=50000;
F64 Angle=180;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_sa_arc2_xy (CardNo, NodeIDArray, SlotID, End_X, End_Y,


20.9 _DMC_01_start_tr_arc3_xy
 FORMAT
I16 PASCAL _DMC_01_start_tr_arc3_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y,I32 End_X,I32 End_Y, I16 Dir, I32 StrVel, I32 MaxVel, F64 Tacc,
F64 Tdec)
 Purpose
(Known conditions: center point coordinates, endpoint coordinates).
 Parameters
Center_X I32
Center_Y I32
Number of Relative endpoint X-coordinate on the specified
End_x I32
pulses axis
Number of Relative endpoint Y-coordinate on the specified
End_y I32
pulses axis
Specified direction (Clockwise if value is 1;
Dir I16 Selection
CCW if value is 0)
Pulses per
second
Pulses per
second

 Description
Figure 20.3
 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 StrVel=0;
I32 MaxVel=50000;
I32 End_x=50000;
I32 End_y=50000;
I16 Dir=1; //This value is 1, indicating a clockwise arc interpolation.
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_tr_arc3_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,

End_x, End_y,Dir, StrVel, MaxVel, Tacc, Tdec);

20.10 _DMC_01_start_sr_arc3_xy
 FORMAT
I16 PASCAL _DMC_01_start_sr_arc3_xy(U16 CardNo, U16* NodeID,U16* SlotID,
F64 Tdec)
 Purpose
 Parameters
Relative center point X-coordinate on the
specified axis
Relative center point Y-coordinate on the
specified axis
Relative endpoint X-coordinate on the specified
End_x I32 Number of pulses
axis
Relative endpoint Y-coordinate on the specified
End_y I32 Number of pulses
axis
Dir I16 Selection
CCW if value is 0)
Pulses per
second
Pulses per
second

 Example
U16 CardNo=0
U16 SlotID[2]={0, 0};
I32 Center_X =25000, Center_Y =25000;
I32 End_x=50000, End_y=50000;
I16 Dir=1; // This value is 1, indicating a clockwise arc interpolation.
F64 Tacc=0.1, Tdec=0.1;
I16 status= _DMC_01_start_sr_arc3_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,

End_x, End_y, Dir, StrVel, MaxVel, Tacc, Tdec);

20.11 _DMC_01_start_ta_arc3_xy
 FORMAT
I16 PASCAL _DMC_01_start_ta_arc3_xy(U16 CardNo, U16* NodeID,U16* SlotID,
F64 Tdec)
 Purpose
 Parameters
specified axis
specified axis
specified axis
specified axis
Dir I16 Selection
CCW if value is 0)

 Example
U16 CardNo=0
U16 SlotID[2]={0, 0};
I32 End_x=50000, End_y=50000;
I16 Dir=1;
F64 Tacc=0.1, Tdec=0.1;
I16 status= _DMC_01_start_ta_arc3_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,


20.12 _DMC_01_start_sa_arc3_xy
 FORMAT
I16 PASCAL _DMC_01_start_sa_arc3_xy(U16 CardNo, U16* NodeID,U16* SlotID,
F64 Tdec)
 Purpose
 Parameters
specified axis
specified axis
specified axis
specified axis
Dir I16 Selection
CCW if value is 0)
Pulses per
second
Pulses per
second

 Example
U16 CardNo=0
U16 SlotID[2]={0, 0};
I32 End_x=50000, End_y=50000;
I16 Dir=1;
F64 Tacc=0.1, Tdec=0.1;
I16 status= _DMC_01_start_sa_arc3_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,


20.13 _DMC_01_start_spiral_xy
 FORMAT
I16 PASCAL _DMC_01_start_spiral_xy (U16 CardNo, U16* NodeID, U16* SlotID,
I32 Center_X, I32 Center_Y, I32 spiral_interval, I32 spiral_angle, I32 StrVel, I32 MaxVel,
F64 Tacc, F64 Tdec,U16 m_curve,U16 m_r_a)
 Purpose
Carries out 2-axis spiral motion (Known conditions: center coordinates for X and Y axes).
 Parameters
Holds Node ID sets used for carrying out spiral
motion
NodeID U16* Number Unit
NodeID[0] holds 1st set of Node ID
NodeID[1] holds 2nd set of Node ID
Number of
Center_X I32 Center X-coordinate on specified axis
pulses
Number of
Center_Y I32 Center Y-coordinate on specified axis
pulses
Number of
spiral_interval I32 Relative distance between spirals
pulses
Total angle of spiral motion (one revolution is
spiral_angle I32 Number
360 degrees)
Pulses per
second
Pulses per
second
1: T-curve
2: S-curve
m_r_a U16 Selection

 Example
U16 CardNo=0
U16 NodeID[2]={1,2};
U16 SlotID[2]={0, 0};
I32 Center_X =25000, Center_Y =25000,
I32 Spiral_interval= 20000,Spiral_angle=1800;
F64 Tacc=0.1, Tdec=0.1;
U16 m_curve=1;
U16 m_r_a=0;
I16 status= _DMC_01_start_spiral_xy (CardNo, NodeID, SlotID, Center_X, Center_Y,

Spiral_interval, Spiral_angle, StrVel, MaxVel, Tacc, Tdec, m_curve, m_r_a);

20.14 _DMC_01_start_spiral2_xy
 FORMAT
I16 PASCAL _DMC_01_start_spiral2_xy (U16 CardNo, U16* NodeID, U16* SlotID,
I32 center_x, I32 center_y, I32 end_x, I32 end_y, U16 dir, U16 circlenum, I32 StrVel,
I32 MaxVel, F64 Tacc, F64 Tdec, U16 m_curve, U16 m_r_a)
 Purpose
Carries out 2-axis spiral motion (Known conditions: center coordinates for X and Y axes;
endpoint coordinates for X and Y axes).
 Parameters
Holds Node ID sets used for carrying out spiral
motion
center_X I32 Number of pulses Center X-coordinate on specified axis
center_Y I32 Number of pulses Center Y-coordinate on specified axis
end_X I32 Number of pulses Endpoint X-coordinate on specified axis
end_Y I32 Number of pulses Endpoint Y-coordinate on specified axis
Direction of spiral arc motion. Clockwise: 1 ;
dir U16 Selection
Counterclockwise: 0
circlenum U16 Number Number of circles in spiral motion
Pulses per
second
Pulses per
second
1: T-curve
2: S-curve
m_r_a U16 Selection

 Example
U16 CardNo=0
U16 NodeID[2]={1,2};
U16 SlotID[2]={0, 0};
I32 center_x =25000, center_y=25000;
I32 end_x =25000, end_y =25000;
U16 dir= 1,circelnum=5;
F64 Tacc=0.1, Tdec=0.1;
U16 m_curve=1;
U16 m_r_a=0;
I16 status= _DMC_01_start_spiral2_xy (CardNo, NodeID, SlotID, center_x, center_y,

end_x, end_y, dir, circelnuml, StrVel, MaxVel, Tacc, Tdec, m_curve, m_r_a);

20.15 _DMC_01_start_v3_arc_xy
 FORMAT
I16 PASCAL _DMC_01_start_v3_arc_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, F64 Angle, I32 StrVel, I32ConstVel, I32 EndVel, F64 TPhase1,
F64 TPhase2, U16 m_curve, U16 m_r_a)
 Purpose
2-axis arc interpolation motion with EndVel added (Known conditions: center point coordinates,
angle).
 Parameters
Center_X I32
Center_Y I32
Pulses per
second
Pulses per
second
Pulses per
second
1: T-curve
2: S-curve
m_r_a U16 Selection

 Description
 Example
U16 CardNo=0, NodeIDArray[2]={1,2}, SlotID[2]={0, 0};
F64 Angle=180;
I32 StrVel=0;
I32 MaxVel=50000;
I32 EndVel=20000;
F64 TPhase1=0.2;
F64 TPhase2=0.1;
I16 status= _DMC_01_start_sa_arc_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,

Angle, StrVel, ConstVel, EndVel, TPhase1, TPhase2, m_curve, m_r_a);

20.16 _DMC_01_start_v3_arc2_xy
 FORMAT
I16 PASCAL _DMC_01_start_v3_arc2_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 End_X,
I32 End_Y, F64 Angle, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2,
U16 m_curve,U16 m_r_a)
 Purpose
2-axis arc interpolation motion with EndVel added (Known conditions: endpoint coordinates,
angle).
 Parameters
Number of Absolute endpoint X-coordinate on the
End_X I32
Number of Absolute endpoint Y-coordinate on the
End_Y I32
Pulses per
second
Pulses per
second
Pulses per
second
1: T-curve
2: S-curve
m_r_a U16 Selection

 Example
U16 CardNo=0;
U16 SlotID[2]={0, 0};
I32 End_X =-50000;
I32 End_Y =-50000;
I32 StrVel=0;
I32 MaxVel=50000;
I32 EndVel=20000;
F64 TPhase1=0.2;
F64 TPhase2=0.1;
I16 status= _DMC_01_start_ta_arc2_xy (CardNo, NodeIDArray, SlotID, End_X, End_Y, Angle,

StrVel, ConstVel, EndVel, TPhase1, TPhase2, m_curve, m_r_a);

20.17 _DMC_01_start_v3_arc3_xy
 FORMAT
I16 PASCAL _DMC_01_start_v3_arc3_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y,I32 End_X,I32 End_Y, I16 Dir, I32 StrVel, I32 ConstVel, I32
EndVel, F64 TPhase1, F64 TPhase2, U16 m_curve,U16 m_r_a)
 Purpose
2-axis arc interpolation motion with EndVel added (Known conditions: center point coordinates,
endpoint coordinates).
 Parameters
specified axis
specified axis
specified axis
specified axis
Dir I16 Selection
CCW if value is 0)
ConstVel I32 Pulses per second Constant velocity
EndVel I32 Pulses per second End velocity
1: T-curve
2: S-curve
m_r_a U16 Selection

 Example
U16 CardNo=0
U16 SlotID[2]={0, 0};
I32 End_x=50000, End_y=50000;
I16 Dir=1;
I32 StrVel=0, ConstVel=50000 , EndVel=20000;
F64 TPhase1=0.2;
F64 TPhase2=0.1;
I16 status= _DMC_01_start_v3_arc3_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,

End_x, End_y,Dir, StrVel, ConstVel, EndVel, TPhase1, TPhase2, m_curve, m_r_a);

20.18 _DMC_01_start_v3_spiral_xy
 FORMAT
I16 PASCAL _DMC_01_start_v3_spiral_xy (U16 CardNo, U16* NodeID, U16* SlotID,
I32 Center_X, I32 Center_Y, I32 spiral_interval, I32 spiral_angle, I32 StrVel, I32 ConstVel, I32
EndVel, F64 TPhase1, F64 TPhase2, U16 m_curve,U16 m_r_a)
 Purpose
2-axis spiral motion with EndVel added (Known conditions: center coordinates for X and Y
axes).
 Parameters
Holds Node ID sets used for carrying out
spiral motion
Center_X I32 Number of pulses Center X-coordinate on specified axis
Center_Y I32 Number of pulses Center Y-coordinate on specified axis
spiral_interval I32 Number of pulses Relative distance between spirals
Total angle of spiral motion (one revolution
spiral_angle I32 Number
is 360 degrees)
1: T-curve
2: S-curve
m_r_a U16 Selection

 Example
U16 CardNo=0
U16 NodeID[2]={1,2};
U16 SlotID[2]={0, 0};
I32 Center_X =25000, Center_Y =25000,
I32 Spiral_interval= 20000, Spiral_angle=1800;
I32 EndVel=20000;
F64 TPhase1=0.2;
F64 TPhase2=0.1;
I16 status= _DMC_01_start_spiral_xy (CardNo, NodeID, SlotID, Center_X, Center_Y,

Spiral_interval, Spiral_angle, StrVel, ConstVel, EndVel, TPhase1, TPhase2, m_curve, m_r_a);

20.19 _DMC_01_start_v3_spiral2_xy
 FORMAT
I16 PASCAL _DMC_01_start_v3_spiral2_xy (U16 CardNo, U16* NodeID, U16* SlotID,
I32 center_x, I32 center_y, I32 end_x, I32 end_y, U16 dir, U16 circlenum, I32 StrVel,
32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 m_curve,U16 m_r_a)
 Purpose
2-axis spiral motion with EndVel added (Known conditions: center coordinates for X and Y
axes, endpoint coordinates for X and Y axes).
 Parameters
Holds Node ID sets used for carrying out
spiral motion
center_X I32 Number of pulses Center X-coordinate on specified axis
center_Y I32 Number of pulses Center Y-coordinate on specified axis
end_X I32 Number of pulses Endpoint X-coordinate on specified axis
end_Y I32 Number of pulses Endpoint Y-coordinate on specified axis
dir U16 Selection
Counterclockwise: 0
circlenum U16 Number Number of circles in spiral motion
1: T-curve
2: S-curve
m_r_a U16 Selection

 Example
U16 CardNo=0
U16 NodeID[2]={1,2};
U16 SlotID[2]={0, 0};
I32 center_x =25000, center_y=25000;
I32 end_x =25000, end_y =25000;
U16 dir= 1, circelnum=5;
I32 EndVel=20000;
F64 TPhase1=0.2;
F64 TPhase2=0.1;
I16 status= _DMC_01_start_v3_spiral2_xy (CardNo, NodeID, SlotID, center_x, center_y,

end_x, end_y, dir, circelnuml, StrVel, ConstVel, EndVel, TPhase1, TPhase2, m_curve,
m_r_a);

Chapter 21 3-Axis Linear

Table 21.1
_DMC_01_start_tr_move_xyz 3-axis Linear interpolation motion using relative
_DMC_01_start_sr_move_xyz 3-axis Linear interpolation motion using relative
_DMC_01_start_ta_move_xyz 3-axis Linear interpolation motion using absolute
_DMC_01_start_sa_move_xyz 3-axis Linear interpolation motion using absolute
_DMC_01_start_v3_move_xyz 3-axis linear interpolation motion with EndVel
added

21.1 _DMC_01_start_tr_move_xyz
 FORMAT
I16 PASCAL _DMC_01_start_tr_move_xyz(U16 CardNo, U16* NodeID,U16* SlotID, I32 DisX,
I32 DisY, I32 DisZ, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec)
 Purpose
3-axis linear interpolation motion using relative coordinates with T-curve velocity
cross-section.
 Parameters
interpolation
NodeIDArray U16* Number Unit NodeIDArray[0] = Node_1
NodeIDArray[1] = Node_2
ID on X-axis
ID on Y-axis
DisZ I32 Number of pulses
ID on Z-axis
 Example
U16 CardNo=0;
U16 NodeIDArray[3]={1,2,3};
U16 SlotID[3]={0, 0, 0};
I32 DisX =25000, DisY =50000 , DisZ =75000 ;
F64 Tacc=0.1. Tdec=0.1;
I16 status= _DMC_01_start_tr_move_xyz (CardNo, NodeIDArray, SlotID, DisX, DisY, DisZ,

21.2 _DMC_01_start_sr_move_xyz
 FORMAT
I16 PASCAL _DMC_01_start_sr_move_xyz(U16 CardNo, U16* NodeID,U16* SlotID, I32 DisX,
I32 DisY, I32 DisZ, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec)
 Purpose
3-axis linear interpolation motion using relative coordinates with S-curve velocity
cross-section.
 Parameters
interpolation
ID on X-axis
ID on Y-axis
ID on Z-axis
 Example
U16 CardNo=0;
U16 SlotID[3]={0, 0, 0};
I32 DisX =25000, DisY =50000 , DisZ =75000 ;
F64 Tacc=0.1. Tdec=0.1;
I16 status= _DMC_01_start_sr_move_xyz (CardNo, NodeIDArray, SlotID, DisX, DisY, DisZ,

21.3 _DMC_01_start_ta_move_xyz
 FORMAT
I16 PASCAL _DMC_01_start_ta_move_xyz (U16 CardNo, U16* NodeID,U16* SlotID, I32
DisX, I32 DisY, I32 DisZ, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec)
 Purpose
3-axis linear interpolation motion using absolute coordinates with T-curve velocity
cross-section.
 Parameters
interpolation
Absolute path parameter for motion of Node
ID on X-axis
ID on Y-axis
ID on Z-axis
 Example
U16 CardNo=0;
U16 SlotID[3]={0, 0, 0};
I32 DisX =25000, DisY =50000 , DisZ =75000 ;
F64 Tacc=0.1. Tdec=0.1;
I16 status= _DMC_01_start_ta_move_xyz (CardNo, NodeIDArray, SlotID, DisX, DisY, DisZ,

21.4 _DMC_01_start_sa_move_xyz
 FORMAT
I16 PASCAL _DMC_01_start_sa_move_xyz(U16 CardNo, U16* NodeID,U16* SlotID, I32
DisX, I32 DisY, I32 DisZ, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec)
 Purpose
3-axis linear interpolation motion using absolute coordinates with S-curve velocity
cross-section.
 Parameters
interpolation
ID on X-axis
ID on Y-axis
ID on Z-axis
 Example
U16 CardNo=0;
U16 SlotID[3]={0, 0, 0};
I32 DisX =25000, DisY =50000 , DisZ =75000 ;
F64 Tacc=0.1. Tdec=0.1;
I16 status= _DMC_01_start_sa_move_xyz (CardNo, NodeIDArray, SlotID, DisX, DisY, DisZ,

21.5 _DMC_01_start_v3_move_xyz
 FORMAT
I16 PASCAL _DMC_01_start_v3_move_xyz(U16 CardNo, U16* NodeID,U16* SlotID, I32
DisX, I32 DisY, I32 DisZ, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2,
 Purpose
3-axis linear interpolation motion with EndVel added.
 Parameters
DisX I32
pulses ID on X-axis
DisY I32
pulses ID on Y-axis
DisZ I32
pulses ID on Z-axis
Pulses per
second
Pulses per
second
Pulses per
second
1¡GT-curve
2¡GS-curve
m_r_a U16 Selection

 Description
 Example
U16 CardNo=0;
U16 SlotID[3]={0, 0, 0};
I32 DisX =25000, DisY =50000 , DisZ =75000 ;
I32 EndVel=20000;
F64 TPhase1=0.2;
F64 TPhase2=0.1;
I16 status= _DMC_01_start_sa_move_xyz (CardNo, NodeIDArray, SlotID, DisX, DisY, DisZ,



Chapter 22 3-Axis Spiral Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 22 3-Axis Spiral Interpolation

Motion Control API
Table 22.1
_DMC_01_start_tr_heli_xy 3-axis Spiral interpolation motion using relative
_DMC_01_start_sr_heli_xy 3-axis Spiral interpolation motion using relative
_DMC_01_start_ta_heli_xy 3-axis Spiral interpolation motion using absolute
_DMC_01_start_sa_heli_xy 3-axis Spiral interpolation motion using absolute
_DMC_01_start_v3_heli_xy 3-axis Spiral interpolation motion with EndVel
added

22.1 _DMC_01_start_tr_heli_xy
 FORMAT
I16 PASCAL _DMC_01_start_tr_heli_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, I32 Depth, I32 Pitch, I16 Dir, I32 StrVel, I32 MaxVel, F64 Tacc,
F64 Tdec)
 Purpose
3-axis Spiral interpolation motion using relative coordinates with T-curve velocity
cross-section.
 Parameters
Holds Node ID sets used for spiral interpolation
Center_X I32
Center_Y I32
Number of Relative depth to position on specified axis
Depth I32
pulses (height in direction of Z)
Number of
Pitch I32 Relative height between two spirals
pulses
Dir I16 Selection
Counterclockwise: 0
Pulses per
second
Pulses per
second

 Description
Figure 22.1
 Example
U16 CardNo=0;
U16 SlotID[3]={0, 0, 0};
I32 Depth =10000;
I32 Pitch = 20000;
I16 Dir=1; //Value is 1, indicating a spiral arc motion in the clockwise direction
I32 StrVel=0;
I32 MaxVel=50000;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_tr_heli_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,

Depth, Pitch, Dir, StrVel, MaxVel, Tacc, Tdec);

22.2 _DMC_01_start_sr_heli_xy
 FORMAT
I16 PASCAL _DMC_01_start_sr_heli_xy(U16 CardNo, U16* NodeID,U16* SlotID,
F64 Tdec)
 Purpose
3-axis Spiral interpolation motion using relative coordinates with S-curve velocity
cross-section.
 Parameters
Center_X I32
Center_Y I32
Number of Relative depth to position on specified axis
Depth I32
Number of
Pitch I32 Relative height between two spirals
pulses
Dir I16 Selection
Counterclockwise: 0
Pulses per
second
Pulses per
second

 Example
U16 CardNo=0;
U16 SlotID[3]={0, 0, 0};
I32 Center_X =25000, Center_Y =50000, Depth =10000, Pitch = 20000;
I16 Dir=1;
F64 Tacc=0.1, Tdec=0.1;
I16 status= _DMC_01_start_sr_heli_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,

22.3 _DMC_01_start_ta_heli_xy
 FORMAT
I16 PASCAL _DMC_01_start_ta_heli_xy(U16 CardNo, U16* NodeID,U16* SlotID,
F64 Tdec)
 Purpose
3-axis Spiral interpolation motion using absolute coordinates with T-curve velocity
cross-section.
 Parameters
Holds Node ID sets used for spiral
interpolation
Center_X, I32 Number of pulses
specified axis
specified axis
Absolute depth to position on specified axis
Depth I32 Number of pulses
(height in direction of Z)
Pitch I32 Number of pulses Absolute height between two spirals
Dir I16 Selection
Counterclockwise: 0

 Example
U16 CardNo=0;
U16 SlotID[3]={0, 0, 0};
I16 Dir=1;
F64 Tacc=0.1, Tdec=0.1;
I16 status= _DMC_01_start_ta_heli_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,


22.4 _DMC_01_start_sa_heli_xy
 FORMAT
I16 PASCAL _DMC_01_start_sa_heli_xy(U16 CardNo, U16* NodeID,U16* SlotID,
F64 Tdec)
 Purpose
3-axis Spiral interpolation motion using absolute coordinates with S-curve velocity
cross-section.
 Parameters
Center_X I32
Center_Y I32
Number of Absolute depth to position on specified axis
Depth I32
Number of
Pitch I32 Absolute height between two spirals
pulses
Dir I16 Selection
Counterclockwise: 0
Pulses per
second
Pulses per
second

 Example
U16 CardNo=0;
U16 SlotID[3]={0, 0, 0};
I16 Dir=1;
F64 Tacc=0.1, Tdec=0.1;
I16 status= _DMC_01_start_sa_heli_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,


22.5 _DMC_01_start_v3_heli_xy
 FORMAT
I16 PASCAL _DMC_01_start_v3_heli_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, I32 Depth, I32 Pitch, I16 Dir, I32 StrVel, 32 ConstVel, I32 EndVel,
F64 TPhase1, F64 TPhase2, U16 m_curve, U16 m_r_a)
 Purpose
3-axis Spiral interpolation motion with EndVel added.
 Parameters
Holds Node ID sets used for spiral
interpolation
specified axis
specified axis
Absolute depth to position on specified axis
(height in direction of Z)
Pitch I32 Number of pulses Absolute height between two spirals
Dir I16 Selection
Counterclockwise: 0
1: T-curve
2: S-curve
m_r_a U16 Selection

 Description
 Example
U16 CardNo=0;
U16 SlotID[3]={0, 0, 0};
I16 Dir=1;
I32 EndVel=20000;
F64 TPhase1=0.2;
F64 TPhase2=0.1;
I16 status= _DMC_01_start_sa_heli_xy (CardNo, NodeIDArray, SlotID, Center_X, Center_Y,

Depth, Pitch, Dir, StrVel, ConstVel, EndVel, TPhase1, TPhase2, m_curve, m_r_a);


Chapter 23 Velocity Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 23 Velocity Motion Control

API
Table 23.1
_DMC_01_tv_move Velocity motion control with T-curve velocity
cross-section
_DMC_01_sv_move Velocity motion control with S-curve velocity
cross-section

23.1 _DMC_01_tv_move
 FORMAT
I16 PASCAL _DMC_01_tv_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 StrVel,
I32 MaxVel, F64 Tacc,I16 Dir)
 Purpose
Velocity motion control with T-curve velocity cross-section.
 Parameters
Pulses per
second
Pulses per
second
0: In positive direction
Dir I16 Selection
1: In negative direction
 Description
Figure. 23.1 Illustration of trapezoidal motion speed constant
 Example
U16 CardNo=0, NodeID=1, SlotID=0, PDO_enable=1;
F64 Tacc=0.1;
I16 Dir =1;
I16 status= _DMC_01_tv_move(CardNo, NodeID, SlotID, StrVel, MaxVel, Tacc, Dir);
//Velocity motion control under PDO mode

23.2 _DMC_01_sv_move
 FORMAT
I16 PASCAL _DMC_01_sv_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 StrVel,
I32 MaxVel, F64 Tacc,I16 Dir)
 Purpose
Velocity motion control with S-curve velocity cross-section.
 Parameters
Pulses per
second
Pulses per
second
0: In positive direction
Dir I16 Selection
1: In negative direction
 Description
Figure 23.2 Illustration of S-curve motion speed constant
 Example
U16 CardNo=0, NodeID=1, SlotID=0, PDO_enable=1;
F64 Tacc=0.1;
I16 Dir =1;
I16 status= _DMC_01_sv_move(CardNo, NodeID, SlotID, StrVel, MaxVel, Tacc, Dir);


Chapter 24 Synchronization Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 24 Synchronization Motion

Control API
Table 24.1
_DMC_01_sync_move Start motion sync
_DMC_01_sync_move_config Enable/disable motion sync

Chapter 24 Synchronization Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
24.1 _DMC_01_sync_move
 FORMAT
I16 PASCAL _DMC_01_sync_move(I16 CardNo)
 Purpose
Starts motion sync.
 Parameters
 Example
U16 CardNo=0;
I16 status = DMC_01_sync_move (I16 CardNo);
24.2 _DMC_01_sync_move_config
 FORMAT
I16 PASCAL _DMC_01_sync_move_config (I16 CardNo, U16 NodeID,U16 SlotID,I16 enable)
 Purpose
Enables/disables motion sync.
 Parameters
0: Disable sync
enable I16 Selection
1: Enable sync
 Example
I16 enable=1;
I16 status = _DMC_01_sync_move_config(I16 CardNo, U16 NodeID,U16 SlotID,I16 enable);

Chapter 25 Remote Module Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 25 Remote Module Control

API
Table 25.1
_DMC_01_get_rm_input_value Retrieve the value for bit 0 to bit 15 of the
remote I/O module's input port
_DMC_01_set_rm_input_filter Set software filter level for input port of the
remote I/O module
_DMC_01_set_rm_input_filter_enable Enable software mask for bit 0 to bit 15 of the
remote I/O module's input port.
_DMC_01_set_rm_output_value Set the value for bit 0 to bit 15 of the remote
I/O module's output port
_DMC_01_set_rm_output_value_error_handle Set the output value returned when remote I/O
module encounters an error
_DMC_01_get_rm_output_value Get output of remote I/O module
_DMC_01_get_rm_output_value_error_handle Get output of remote I/O module and decide
whether to retain or discard value if there is an
error
_DMC_01_set_rm_output_active Enable/disable output from remote I/O module.

25.1 _DMC_01_get_rm_input_value
 FORMAT
I16 PASCAL _DMC_01_get_rm_input_value(U16 CardNo, U16 NodeID,U16 SlotID,
U16 port,U16 *value)
 Purpose
Retrieves the value for bit 0 to bit 15 of the remote I/O module's input port.
 Parameters
0: Port 0
1: Port 1
Port U16 Selection
2: Port 2
3: Port 3
Value U16* Number Received data
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Port=0;
U16 Value;
/* Data received by Port 0 of Remote digital input module */

I16 status = _DMC_01_get_rm_input_value(CardNo, NodeID, SlotID, Port, &Value);

25.2 _DMC_01_set_rm_input_filter
 FORMAT
I16 PASCAL _DMC_01_set_rm_input_filter(U16 CardNo, U16 NodeID,U16 SlotID ,
U16 port,U16 value)
 Purpose
Sets software filter level for input port of the remote I/O module. (When the value of the
variable is 0, the software filter time becomes 1 ms. When the value is 1, the software filter
time becomes 2 ms, and so on.)
 Parameters
0: Port 0
1: Port 1
port U16 Selection
2: Port 2
3: Port 3
Value of software filter. Value of 0 means filter
value U16 Number
time of 1 ms.
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Port=0;
U16 Value=2; // In this example, the value is 2, so software filter time is 3 ms.
/* Set software filter time of Port 0 on Remote digital input module to 3 ms */

I16 status = _DMC_01_set_rm_input_filter(CardNo, NodeID, SlotID, Port, Value);

25.3 _DMC_01_set_rm_input_filter_enable
 FORMAT
I16 PASCAL _DMC_01_set_rm_input_filter_enable(U16 CardNo, U16 NodeID,
U16 SlotID,U16 port,U16 enable)
 Purpose
Enables software mask for bit 0 to bit 15 of the remote I/O module's input port.
 Parameters
0: Port 0
1: Port 1
port U16 Selection
2: Port 2
3: Port 3
Port 0/1/2/3 bit0~bit15 software filter (Value
enable U16 Number
0~0xFFFF)
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Port=0;
U16 Enable=0xFF;
/* Set bit 0 ~ bit 7 of filter mask for Port 0 of Remote digital input module to ON */
I16 status = _DMC_01_set_rm_input_filter_enable(CardNo, NodeID, SlotID, Port, Enable);

25.4 _DMC_01_set_rm_output_value
 FORMAT
I16 PASCAL _DMC_01_set_rm_output_value(U16 CardNo, U16 NodeID,U16 SlotID,
U16 port,U16 value)
 Purpose
Sets the value for bit 0 to bit 15 of the remote I/O module's output port.
 Parameters
0: Port 0
1: Port 1
port U16 Selection
2: Port 2
3: Port 3
Value to set for bit 0 to bit 15 of Port 0/1/2/3 on
value U16 Number
digital output module (ON/OFF)
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Port=0;
U16 Value=0xF;
/* Set bit 0 ~ bit 3 of Port 0 of Remote digital input module to ON */

I16 status = _DMC_01_set_rm_output_value(CardNo, NodeID, SlotID, Port, Value);

25.5 _DMC_01_set_rm_output_value_error_handle
 FORMAT
I16 PASCAL _DMC_01_set_rm_output_value_error_handle(U16 CardNo, U16 NodeID,
U16 SlotID,U16 port,U16 value)
 Purpose
Sets the output value returned when remote I/O module encounters an error.
 Parameters
0: Port 0
1: Port 1
port U16 Selection
2: Port 2
3: Port 3
0: When an error occurs, the error output value
will be reset to 0
value U16 Selection
1: When an error occurs, retain the value until
system is powered off
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Port=0;
U16 Value=1;
I16 status = _DMC_01_set_rm_output_value_error_handle(CardNo, NodeID, SlotID, port,

Value);

25.6 _DMC_01_get_rm_output_value
 FORMAT
I16 PASCAL _DMC_01_get_rm_output_value (U16 CardNo, U16 NodeID, U16 SlotID,
U16 port, U16* value)
 Purpose
Retrieves output value of the remote I/O module.
 Parameters
0: Port 0
1: Port 1
port U16 Selection
2: Port 2
3: Port 3
Get value set for bit 0 to bit 15 of Port 0/1/2/3
value U16* Number
on digital output module (ON/OFF)
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Port=0;
U16 Value=0;
I16 status = _DMC_01_get_rm_output_value (CardNo, NodeID, SlotID, Port, &Value);

25.7 _DMC_01_get_rm_output_value_error_handle
 FORMAT
I16 PASCAL _DMC_01_get_rm_output_value_error_handle (U16 CardNo, U16 NodeID,
U16 SlotID,U16 port,U16* value)
 Purpose
Retrieves output value of the remote I/O module and determines whether to retain or discard
the value if an error occurs.
 Parameters
0: Port 0
1: Port 1
port U16 Selection
2: Port 2
3: Port 3
Get value. If value is
0: When an error occurs, the error output value
value U16* Selection will be reset to 0
1: When an error occurs, retain the value until
system is powered off
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Port=0;
U16 Value=0;
I16 status = _DMC_01_get_rm_output_value_error_handle(CardNo, NodeID, SlotID, port,

&Value);

25.8 _DMC_01_set_rm_output_active
 FORMAT
I16 PASCAL _DMC_01_set_rm_output_active (U16 CardNo, U16 NodeID, U16 SlotID,
U16 Enable)
 Purpose
Enables/disables output from the remote I/O module.
 Parameters
0: Disable output
Enable U16 Selection 1: Enable output and send output value to
target
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Enable=1;
I16 status = _DMC_01_set_rm_output_active (CardNo, NodeID, SlotID, Enable);


Chapter 26 MPG and JOG Operation API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 26 MPG and JOG Operation

API
Table 26.1
_DMC_01_set_rm_mpg_axes_enable Set MPG motion control
_DMC_01_set_rm_mpg_axes_enable2 MPG motion control (can numerator for servo
rotation ratio)
_DMC_01_set_rm_jog_axes_enable Set JOG motion control

26.1 _DMC_01_set_rm_mpg_axes_enable
 FORMAT
I16 PASCAL _DMC_01_set_rm_mpg_axes_enable (U16 CardNo, U16 MasterNodeID,
U16 MasterSlotID, U16* NodeID, U16* SlotID, U16 enable, U16 pulse_ratio, U32 *ratio,
U32 *slope)
 Purpose
Sets MPG motion control.
 Parameters
MasterNodeID U16 Number Unit RM-MN64 Node ID used
MasterSlotID U16 Number Unit RM-MN64 Slot ID used
NodeID U16* Number Unit Node ID in use (Up to 4 axes)
SlotID U16* Number Unit Servo Slot ID in use (Up to 4 axes)
0: Disable MPG function
enable U16 Selection
1: Enable MPG function
Ratio between each click of MPG and pulse
output
pulse_ratio U16 Selection
1: Four clicks of MPG produces 1 pulse output.
4: One click of MPG produces 1 pulse output.
Adjust ratio of one full MPG turn to pulse output
ratio U32* Number
(motor rotations).
Set Maximum velocity slope for MPG.
slope U32* Number
(PPS/sec, Max=1000).

 Example
I16 rt = 0;
U16 CardNo = 0, MasterNodeID = 1, MasterSlotID = 0; //RM-64 Node ID is 1
U16 NodeID[4] = {2, 3, 0, 0}, SlotID[4] = {0}; //Use two ASD-A2F servo motors assigned to
Node 2 and Node 3.
U16 enable = 1, pulse_ratio = 4; //Set ratio of MPG click to output pulse ratio
U32 ratio[4] = {1, 1, 0, 0}; //Set ratio of one full MPG turn to pulse output (motor rotations).
U32 slope[4] = {100}; //Set slope of MPG Maximum velocity to 100
rt = _DMC_01_set_rm_mpg_axes_enable(CardNo, MasterNodeID, MasterSlotID, NodeID,

SlotID, enable, pulse_ratio, ratio, slope);
If the same conditions are used in step-motor and 04PI, the results are as follows:
One turn MPG (100 clicks) = Pulse output of 100*10=1000
Example 2: (ratio setting)

Conditions: Assume that if MPG has 100 clicks in a revolution, then it is equal to MPG ratio x
10, pulse_ratio = 4, ratio = 2, slope = 1000
Results: One full turn of MPG (100 clicks) = 2 motor rotations (128000*10*2=2560000)
If the same conditions are used in step-motor and 04PI, the results are as follows:
One full turn of the MPG (100 clicks) = Pulse output is 100*10=1000. Value of ratio does not
affect output pulse. It only affects the MPG ratio setting.
Example 3: (slope setting)

The correct result is then: One full turn of MPG (100 clicks) = 1 motor rotation (128000*100 *
1=12800000)
Actual result: One full turn of MPG (100 clicks) = 1 actual motor rotation
(12531200). Because the maximum slope for MPG is 100
(PPS/sec), the excess speed of the MCG is filtered out.
Example: For step motor and 04PI, the result is as follows:

The correct result is then: One full turn of MPG (100 clicks) = Pulse output of 100*100=10000
Actual result: One full turn of MPG (100 clicks) = Pulse output = 3560. Like the
servo, the part above the slope is filtered out.

26.2 _DMC_01_set_rm_mpg_axes_enable2
 FORMAT
I16 PASCAL _DMC_01_set_rm_mpg_axes_enable2 (U16 CardNo, U16 MasterNodeID,
U16 MasterSlotID, U16* NodeID, U16* SlotID, U16 enable,U16 pulse_ratio, U32 *ratio,
U32 *slope, U16 *denominator)
 Purpose
MPG motion control (can set numerator for motor rotation ratio).
 Parameters
0: Disable MPG function
1: Enable MPG function
Ratio between each click of MPG and pulse output
pulse_ratio U16 Selection 1: Four clicks of MPG produces 1 pulse output.
4: One click of MPG produces 1 pulse output.
Adjust ratio (denominator) of one full MPG turn to
Ratio U32* Number Unit
pulse output (motor rotations).
Set Maximum velocity slope for MPG.
Slope U32* Number Unit
(PPS/sec, Max=1000).
Adjust ratio (numerator) of one full MPG turn to
Denominator U16* Number Unit
pulse output (motor rotations).
 Example
I16 rt = 0;
U16 CardNo = 0, MasterNodeID = 1, MasterSlotID = 0; RM-64 Node ID is 1
U16 NodeID[4] = {2, 3, 0, 0}, SlotID[4] = {0}; //Use two ASD-A2F servo motors assigned to
Node 2 and Node 3.
U16 enable = 1, pulse_ratio = 4; //Set ratio of MPG click to output pulse ratio
U32 ratio[4] = {10, 10, 0, 0}; //Set ratio of one full MPG turn to pulse output (motor rotations).
U32 slope[4] = {1000}; //Set slope of MPG Maximum velocity to 1000
U16 denominator [4] = {36,36, 36, 36}; //Set output ratio (numerator) for every turn of MPG
rt = _DMC_01_set_rm_mpg_axes_enable2(CardNo, MasterNodeID, MasterSlotID, NodeID,

SlotID, enable, pulse_ratio, ratio, slope, denominator);
NOTE
The above example is explained below:

Conditions:
Assuming one full turn of MPG is 100 clicks, MPG ratio X10, ratio=10,
Denominator=36, pulse_ratio =4, slope=1000, electronic gear ratio is
P1.44/P1.45 = 1
1 click of MPG = Number of motor rotation pulses (128000 * 10 / 100 * 10 /

36=355.55) * P1.45/P1.44
＊This is sufficient to rotate the disc driven by the motor by 1 degree (1/360 *
1280000=355.55)
Formula:
One full turn of MPG (100 clicks) =
Number of motor rotation pulses (128000 * MPG ratio * ratio / Denominator) *
P1.45 / P1.44.
Conversion Ratio:
MPG rotation
MPG ratio Ratio Denominator Slope Servo rotation
(1 full turn)
X1 1 1 1000 100 128000
X10 1 1 1000 1000 1280000
X100 1 1 1000 10000 12800000
X1 2 1 1000 100 256000
X1 1 2 1000 100 64000
Example using Delta servo P1.44 and P1.45: MPG rotates X clicks, Servo moves Y pulses
A: Basic P1.44 / P1.45 adjustment ratio =640(1280000 / 2000).

B: Basic et_rm_mpg_axes_enable2 Ratio / Denominator value =1.
C: This is the current ratio for P1.44/p1.45 adjustment.
D: Need to find value of Ratio/Denominator in set_rm_mpg_axes_enable2.
Algorithm is: D = B * C / A * Y / X  D = 0.5 * C / 640 * Y / X

26.3 _DMC_01_set_rm_jog_axes_enable
 FORMAT
I16 PASCAL _DMC_01_set_rm_jog_axes_enable (U16 CardNo, U16 MasterNodeID,
U16 MasterSlotID, U16* NodeID, U16* SlotID, U16 enable, U16 jog_mode, I32 *jog_speed,
F64 *sec)
 Purpose
Sets JOG motion control.
 Parameters
0: Disable JOG port
1: Enable JOG
JOG axis selection method
jog_mode U16 Selection 0: RM mode
1: MPG mode
Pulses per
jog_speed I32* JOG speed
second
Pulses per
sec F64 JOG acceleration time
second
 Example
I16 rt;
U16 CardNo = 0, MasterNodeID = 1, MasterSlotID = 0; RM-64 Node ID is 1
U16 NodeID[4] = {2, 3, 4, 0}, SlotID[4] = {0}; //Using three ASD-A2F servo motors assigned to
Node 2, 3 and 4.
U16 enable = 1;
U16 jog_mode = 0; //Use RM module IO to select X, Y and Z axes
I32 jog_speed[4] = {128000, 128000, 128000, 0}; //Set JOG speed as 128000 pps. (= 0.1 rps)
F64 sec = 0.1;
rt = _DMC_01_set_rm_jog_axes_enable (CardNo, MasterNodeID, MasterSlotID, NodeID,

SlotID, enable, jog_mode, jog_speed, sec);
//Motor Node 2 is X axis. Node 3 is Y axis, Node 4 is Z axis. Three axes in total.
Chapter 27 4-Channel Pulse Interface API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 27 4-Channel Pulse Interface

API
Table 27.1
_DMC_01_set_rm_04pi_ipulse_mode Set input phase mode for pulse interface
module
_DMC_01_set_rm_04pi_opulse_mode Set output phase mode for pulse interface
module
_DMC_01_set_rm_04pi_svon_polarity Set PWR ON (SVON) level
_DMC_01_set_rm_04pi_DO2 Enable DO2 port configuration
_DMC_01_set_rm_04pi_homing_ratio Set homing torque ratio
_DMC_01_04pi_set_poweron Set POWER ON (SVON) level
_DMC_01_rm_04PI_get_buffer Get buffered motion command

27.1 _DMC_01_set_rm_04pi_ipulse_mode
 FORMAT
I16 PASCAL _DMC_01_set_rm_04pi_ipulse_mode (U16 CardNo, U16 NodeID, U16 SlotID,
U16 mode)
 Purpose
Sets input phase mode for pulse interface module.
 Parameters
0: AB phase
mode U16 Selection
1: CW / CCW
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 mode=0; //Set input phase as AB phase
I16 status = _DMC_01_set_rm_04pi_ipulse_mode (CardNo, NodeID, SlotID, mode);

27.2 _DMC_01_set_rm_04pi_opulse_mode
 FORMAT
I16 PASCAL _DMC_01_set_rm_04pi_opulse_mode (U16 CardNo, U16 NodeID,
U16 SlotID ,U16 mode)
 Purpose
Sets output phase mode for pulse interface module.
 Parameters
0: AB phase
1: CW / CCW
mode U16 Selection
2: Pulse Direction DIR+ in low level
3: Pulse Direction DIR+ in high level
 Description
Figure 27.1 Parameter mode function
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 mode=0; //Set input phase as AB phase.
I16 status = _DMC_01_set_rm_04pi_opulse_mode (CardNo, NodeID, SlotID, mode);

27.3 _DMC_01_set_rm_04pi_svon_polarity
 FORMAT
I16 PASCAL _DMC_01_set_rm_04pi_svon_polarity (U16 CardNo, U16 NodeID, U16 SlotID,
U16 polarity)
 Purpose
Sets POWER ON (SVON) level.
 Parameters
0: Normal high
polarity U16 Selection
1: Normal low
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 ON_OFF= 1;
U16 polarity = 0; //Set as Normal high
/* Enable POWER ON (Servo ON) */

I16 status = _DMC_01_04pi_set_poweron (CardNo, NodeID, SlotID, polarity);
/* When servo is Low active, the polarity value of this function must be set to 0 (Normal high) */
status = _DMC_01_set_rm_04pi_svon_polarity(CardNo, NodeID, SlotID, polarity);

27.4 _DMC_01_set_rm_04pi_DO2
 FORMAT
I16 PASCAL _DMC_01_set_rm_04pi_DO2 (U16 CardNo, U16 NodeID, U16 SlotID,
U16 ON_OFF)
 Purpose
Enables DO2 port configuration.
 Parameters
0: Disable DO2 port
1: Enable DO2 port
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 ON_OFF=1; // Enable DO2 port
I16 status = _DMC_01_set_rm_04pi_DO2 (CardNo, NodeID, SlotID, ON_OFF);

27.5 _DMC_01_set_rm_04pi_homing_ratio
 FORMAT
I16 PASCAL _DMC_01_set_rm_04pi_homing_ratio (U16 CardNo, U16 NodeID, U16 SlotID,
U16 ratio)
 Purpose
Sets the rated torque multiplier for Homing mode.
※When using RM04PI to carry out Homing motion this executes
“_DMC_01_set_home_config” function. The velocity parameter of the function has type of
unsigned short (16 bit), so Maximum velocity can only be set up to 65535; to use a velocity
higher than 65535, the “_DMC_01_set_rm_04pi_homing_ratio” function must be used.
 Parameters
ratio U16 Number Unit Home velocity gain ratio
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 ratio=100; // Execute “_DMC_01_set_home_config” function to carry out Homing motion.
// Function parameter lowSpeed has a value of 200 and highSpeed has a value
of 2000. The ratio here is 100.
// The actual velocity of RM04PI during Homing motion is then:
// lowSpeed * ratio = 200 * 100 = 2000
// highSpeed * ratio = 2000 * 100 = 200000
I16 status = _DMC_01_set_rm_04pi_homing_ratio( CardNo, NodeID, SlotID, ratio);

27.6 _DMC_01_04pi_set_poweron
 FORMAT
I16 PASCAL _DMC_01_04pi_set_poweron (U16 CardNo, U16 NodeID, U16 SlotID,
U16 ON_OFF)
 Purpose
Enables/disables PWR ON(SVON).
 Parameters
0: OFF
1: ON (enable SVON)
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 ON_OFF= 1;
U16 polarity=0; //Set as Normal high (Please see section 27.3 Description)
I16 status = _DMC_01_04pi_set_poweron (CardNo, NodeID, SlotID, polarity);

status = _DMC_01_set_rm_04pi_svon_polarity(CardNo, NodeID, SlotID, polarity);

27.7 _DMC_01_rm_04PI_get_buffer
 FORMAT
I16 PASCAL _DMC_01_rm_04PI_get_buffer (U16 CardNo, U16 NodeID, U16 SlotID,
U16 *bufferLength)
 Purpose
Retrieves the buffered motion command.
 Parameters
bufferLength U16* Number Un-executed motion command
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID =0;
U16 bufferLength;
I16 status;
/* Start synchronized motion control command */

status= _DMC_01_sync_move(CardNo);
/* Get un-executed motion commands from each Node */
status= _DMC_01_get_buffer_length (CardNo, NodeID, SlotID, &bufferLength);

Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 28 4-Channel Pulse Interface

(Mode 1) Motion Control API
Table 28.1
Perform 1-axis motion control under RM04PI
_DMC_01_rm_04pi_md1_start_move
Mode 1.
Perform velocity motion control under RM04PI
_DMC_01_rm_04pi_md1_v_move
Mode 1.
Perform 2-axis linear interpolation motion
_DMC_01_rm_04pi_md1_start_line2
control under RM04PI Mode 1
Perform 2-axis arc interpolation motion control
under RM04PI Mode 1
_DMC_01_rm_04pi_md1_start_arc
angle)
under RM04PI Mode 1
_DMC_01_rm_04pi_md1_start_arc2
(Known conditions: Endpoint coordinates,
angle)
under RM04PI Mode 1
_DMC_01_rm_04pi_md1_start_arc3
Perform 3-axis spiral interpolation motion
_DMC_01_rm_04pi_md1_start_heli
Replace current position value with new
_DMC_01_rm_04pi_md1_p_change
position value under RM04PI Mode 1
Replace current velocity with new velocity value
_DMC_01_rm_04pi_md1_v_change
under RM04PI Mode 1
Enable and set Gear parameters under
_DMC_01_rm_04pi_md1_set_gear
RM04PI Mode 1

Enable/disable software limit under RM04PI
_DMC_01_rm_04pi_md1_set_soft_limit
Mode 1
Get current 4-axis software limit contact status
_DMC_01_rm_04pi_md1_get_soft_limit_status
under RM04PI Mode 1
_DMC_01_rm_04pi_md1_set_sld Enable SLD port (DI3) and set profile
When alarm code is 299, get motion control
_DMC_01_rm_04pi_md1_get_mc_error_code
error message under RM04PI Mode 1
_DMC_01_set_rm_04pi_ref_counter Select reference counter for re-connection
under RM04PI Mode 1

28.1 _DMC_01_rm_04pi_md1_start_move
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_start_move(U16 CardNo, U16 NodeID,U16 SlotID,
I32 Dist, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve,U16 m_r_a)
 Purpose
Performs 1-axis motion control under RM04PI Mode 1.
※When setting StrVel, make sure its value is smaller than MaxVel.
 Parameters
NodeID U16* Number Unit Node ID
Number of
Dist I32 Specified path
pulses
Pulses per
second
Pulses per
second
1: Referenced against T-curve velocity
cross-section
2: Referenced against S-curve velocity
cross-section
0: Displacement in relative coordinates
m_r_a U16 Selection
1: Displacement in absolute coordinates

 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID = 0;
I32 Dist = 1280000;
U16 StrVel = 1000, MaxVel =12800;
F64 Tacc=0.1, Tdec=0.1;
U16 m_curve = 1;
U16 m_r_a = 0;
/* RM04PI MODE1 carries out motion displacement in relative coordinates with T-curve
velocity cross-section*/
I16 status= _DMC_01_rm_04pi_md1_start_move (CardNo, NodeID, SlotID, Dist, StrVel,
MaxVel, Tacc, Tdec, m_curve, m_r_a);

28.2 _DMC_01_rm_04pi_md1_v_move
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_v_move(U16 CardNo, U16 NodeID,U16 SlotID,
I32 StrVel, I32 MaxVel, F64 Tacc,I16 dir,U16 m_curve)
 Purpose
Performs velocity motion control under RM04PI Mode 1.
 Parameters
Pulses per
second
Pulses per
second
0: Move in positive direction
dir I16 Selection
1: Move in negative direction
cross-section
cross-section
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID = 0;
I32 StrVel = 1000, MaxVel =12800;
F64 Tacc=0.1, Tdec=0.1;
I16 dir = 0; // Direction is positive
U16 m_curve = 1; //Referenced against T-curve velocity cross-section
/* RM04PI MODE1 moving in positive direction */

I16 status= _DMC_01_rm_04pi_md1_v_move (CardNo, NodeID, SlotID, StrVel, MaxVel, Tacc,
Tdec, dir, m_curve);

28.3 _DMC_01_rm_04pi_md1_start_line2
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_start_line2(U16 CardNo, U16 NodeID,U16 *SlotID,
I32 *Dist, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve,U16 m_r_a)
 Purpose
Performs 2-axis linear interpolation motion control under RM04PI Mode 1.
※For motion description, please see Chapter 19 “2-Axis Linear Interpolation Motion Control
API”.
 Parameters
SlotID[0] holds first set of Slot ID
SlotID U16* Number Unit
SlotID[1] holds second set of Slot ID
Path parameter corresponding to SlotID[0]
Number of motion
Dist I32*
pulses Path parameter corresponding to SlotID[1]
motion
Pulses per
second
Pulses per
second
cross-section
cross-section
m_r_a U16 Selection

 Example
U16 CardNo=0, NodeID=1, SlotID[2] ={0, 1};
I32 Dist[2]={30000, 40000};
F64 Tacc=0.1, Tdec=0.1;
U16 m_curve=2; //Referenced against S-curve velocity cross-section
U16 m_r_a=1; //Use displacement in absolute coordinates
I16 status = _DMC_01_rm_04pi_md1_start_line2(CardNo, NodeID, SlotID, Dist, StrVel,


 FORMAT
 Purpose
 Parameters
SlotID U16* Number Unit SlotID[1] holds second set of Slot ID
SlotID[2] holds third set of Slot ID
motion
Number of Path parameter corresponding to SlotID[1]
Dist I32*
pulses motion
motion
Pulses per
second
Pulses per
second
cross-section
cross-section
m_r_a U16 Selection

 Example
U16 CardNo=0, NodeID=1, SlotID[3] ={0,1,2};
I32 Dist[3]={10000, 20000, 30000};
F64 Tacc=0.1, Tdec=0.1;
U16 m_curve=1; //Referenced against T-curve velocity cross-section
U16 m_r_a=1; //Use displacement in absolute coordinates
I16 status = _DMC_01_rm_04pi_md1_start_line3 (CardNo, NodeID, SlotID, Dist,StrVel,

 FORMAT
 Purpose
 Parameters
NodeID U16 Number Unit Holds Node ID sets used for linear interpolation
SlotID[3] holds fourth set of Slot ID
motion
Number of motion
Dist I32*
pulses Path parameter corresponding to SlotID[2]
motion
motion
Pulses per
second
Pulses per
second
cross-section
cross-section
m_r_a U16 Selection

 Example
U16 CardNo=0, NodeID=1, SlotID[4] ={0,1,2,3};
I32 Dist[4]={10000, 20000, 30000, 40000};
F64 Tacc=0.1, Tdec=0.1;
U16 m_curve=1, m_r_a=1; //Perform motion in absolute coordinates with T-curve velocity
cross-section
I16 status = _DMC_01_rm_04pi_md1_start_line4 (CardNo, NodeID, SlotID, Dist, StrVel,


28.6 _DMC_01_rm_04pi_md1_start_arc
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_start_arc(U16 CardNo, U16 NodeID,U16* SlotID,
I32* Center, F64 Angle, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve,U16
m_r_a)
 Purpose
Performs 2-axis arc interpolation motion control under RM04PI Mode 1 (Known conditions:
center point coordinates, angle).
※For motion description, please see Chapter 20 “2-Axis Arc Interpolation Motion Control API”.
 Parameters
Center[0] holds first set of center point
Number of coordinates
Center I32*
pulses Center[1] holds second set of center point
coordinates
Pulses per
second
Pulses per
second
cross-section
cross-section
m_r_a U16 Selection

 Example
U16 CardNo=0, NodeID=1, SlotID[2]={0,1};
I32 Center[2]={5000,5000}, StrVel=0, MaxVel=1000;
F64 Tacc=0.1, Tdec=0.1;
cross-section
I16 status = _DMC_01_rm_04pi_md1_start_arc(CardNo, NodeID, SlotID, Center, Angle,

StrVel, MaxVel, Tacc, Tdec, m_curve, m_r_a);

28.7 _DMC_01_rm_04pi_md1_start_arc2
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_start_arc2(U16 CardNo, U16 NodeID,U16* SlotID,
I32* End, F64 Angle, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve,U16 m_r_a)
 Purpose
endpoint coordinates, angle)
 Parameters
End[0] holds first set of endpoint coordinates
Number of
End I32* End[1] holds second set of endpoint
pulses
coordinates
Pulses per
second
Pulses per
second
cross-section
cross-section
m_r_a U16 Selection

 Example
U16 CardNo=0, NodeID=1, SlotID[2]={0,1};
I32 End[2]={5000,5000}, StrVel=0, MaxVel=1000;
F64 Tacc=0.1, Tdec=0.1;
cross-section
I16 status = _DMC_01_rm_04pi_md1_start_arc2(CardNo, NodeID, SlotID, End, Angle, StrVel,


28.8 _DMC_01_rm_04pi_md1_start_arc3
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_start_arc3(U16 CardNo, U16 NodeID,U16* SlotID,
I32* Center,I32* End, I16 dir, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve,
U16 m_r_a)
 Purpose
center point coordinates, endpoint coordinates)
 Parameters
Center[0] holds first set of center point
Number of coordinates
Center I32*
pulses Center[1] holds second set of center point
coordinates
End[0] holds first set of endpoint coordinates
Number of
End I32* End[1] holds second set of endpoint
pulses
coordinates
dir I16 Selection
CCW if value is 0)
Pulses per
second
Pulses per
second
cross-section
cross-section
m_r_a U16 Selection

 Example
U16 CardNo=0, NodeID=1, SlotID[2]={0,1}, m_curve=1, m_r_a=1;
I32 Center[2]={5000,2500}, End[2]={10000,5000}, StrVel=0, MaxVel=1000;
I16 dir=1; //Clockwise
F64 Tacc=0.1, Tdec=0.1;
I16 status = _DMC_01_rm_04pi_md1_start_arc3(CardNo, NodeID, SlotID, Center, End, dir,


28.9 _DMC_01_rm_04pi_md1_start_heli
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_start_heli(U16 CardNo, U16 NodeID,U16* SlotID,
I32* Center,I32 Depth, I32 Pitch, I16 dir, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,
 Purpose
Performs 3-axis spiral interpolation motion control under RM04PI Mode 1.
※For motion description, please see Chapter 22 “3-Axis Spiral Interpolation Motion Control
API”.
 Parameters
SlotID U16* Number Unit SlotID[1] holds second set of Slot ID
Center[0] holds first set of center point coordinates
Center[1] holds second set of center point
Center I32* Number of pulses
coordinates
Center[2] holds third set of center point coordinates
Relative depth to position on specified axis (height
in direction of Z)
Pitch I32 Number of pulses Relative height between two spirals
Direction of spiral arc motion. Clockwise: 1;
dir I16 Selection
Counterclockwise: 0
cross-section
cross-section
m_r_a U16 Selection

 Example
U16 CardNo=0, NodeID=1, SlotID[3]={0,1,2}, m_curve=1, m_r_a=1;
I32 Center[3]={5000,2500,2500}, Depth = 2500, Pitch = 500, StrVel = 0, MaxVel = 1000;
I16 dir=1; //Clockwise
F64 Tacc=0.1, Tdec=0.1;
I16 status = _DMC_01_rm_04pi_md1_start_heli(CardNo, NodeID, SlotID, Center, Depth,
Pitch, dir, StrVel, MaxVel, Tacc, Tdec, m_curve, m_r_a);

28.10 _DMC_01_rm_04pi_md1_p_change
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_p_change (U16 CardNo, U16 NodeID, U16 SlotID,
I32 NewPos)
 Purpose
Replaces the current position with a new position value under RM04PI Mode 1.
 Parameters
Number of
NewPos I32 Position parameter to be replaced
pulses
 Example
I32 NewPos=100000;
I16 status= _ DMC_01_rm_04pi_md1_p_change (CardNo, NodeID, SlotID, NewPos);

28.11 _DMC_01_rm_04pi_md1_v_change
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_v_change (U16 CardNo, U16 NodeID, U16 SlotID,
I32 NewSpeed, F64 sec)
 Purpose
Replaces the current velocity with a new velocity value under RM04PI Mode 1.
※Please refer to section 18.6 “_DMC_01_v_change” for details.
 Parameters
Pulses per
second
sec F64 Second
velocity change.
 Example
I32 NewSpeed=3000;
F64 sec=0.1;
I16 status= _ DMC_01_rm_04pi_md1_v_change (CardNo, NodeID, SlotID, NewSpeed, sec);

28.12 _DMC_01_rm_04pi_md1_set_gear
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_set_gear (U16 CardNo, U16 NodeID, U16 SlotID,
I16 numerator,I16 denominator,U16 Enable)
 Purpose
Enables and sets Gear parameters under RM04PI Mode 1.
※As a step motor does not offer an electronic gear ratio, this function is used instead.
 Parameters
numerator I16 Number Unit Electronic gear denominator
denominator I16 Number Unit Electronic gear numerator
0: Disable Gear
1: Enable Gear
 Example
I16 numerator=1, denominator=2;
U16 Enable=1;
I16 status = _DMC_01_rm_04pi_md1_set_gear (CardNo, NodeID, SlotID, numerator,

denominator, Enable);

28.13 _DMC_01_rm_04pi_md1_set_soft_limit
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_set_soft_limit(U16 CardNo, U16 NodeID,U16 SlotID,
I32 PLimit, I32 NLimit,U16 Enable)
 Purpose
Enables/disables software limit under RM04PI Mode 1.
 Parameters
PLimit I32 Number Unit Value of positive software limit
NLimit I32 Number Unit Value of negative software limit
0: Disable software limit
1: Enable software limit
 Example
I32 PLimit=5000, NLimit=-5000;
U16 Enable=1;
I16 status = _DMC_01_rm_04pi_md1_set_soft_limit (CardNo, NodeID, SlotID, PLimit, NLimit,

Enable);

28.14 _DMC_01_rm_04pi_md1_get_soft_limit_status
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_get_soft_limit_status (U16 CardNo, U16 NodeID,
U16 SlotID ,U16* NLimit_status,U16* PLimit_status)
 Purpose
Retrieves current 4-axis software limit contact status under RM04PI Mode 1.
 Parameters
NLimit_status U16* Number Unit Return contact status of negative software limit
PLimit_status U16* Number Unit Return contact status of positive software limit
 Example
U16 NLimit_status, PLimit_status;
I16 status = _DMC_01_rm_04pi_md1_get_soft_limit_status(CardNo, NodeID, SlotID ,

&NLimit_status, &PLimit_status);
// If there is contact with negative software limit, NLimit_status returns 1; Return 0
otherwise
// If there is contact with positive software limit, PLimit_status returns 1; Return 0
otherwise

28.15 _DMC_01_rm_04pi_md1_set_sld
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_set_sld (U16 CardNo, U16 NodeID, U16 SlotID,
I16 enable, I16 sd_logic,I16 mode)
 Purpose
Enables SLD port (DI3) and sets the profile.
 Parameters
0: Disable SLD port
enable I16 Selection
1: Enable SLD port
0: Normal high
sd_logic I16 Selection
1: Normal low
1: Use EMG stop (emergency stop)
mode I16 Selection
2: Use Slow down stop (slow down stop)
 Example
I16 enable=1;
I16 sd_logic=1; //Port polarity is Normal high
I16 mode=1; //Stop mode used is EMG stop
I16 status= _DMC_01_rm_04pi_md1_set_sld(CardNo, NodeID, SlotID, enable, sd_logic,

mode);

28.16 _DMC_01_rm_04pi_md1_get_mc_error_code
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_get_mc_error_code (U16 CardNo, U16 NodeID,
U16 SlotID, U16 error_code)
 Purpose
When the alarm code is 299, retrieves the motion control error message under RM04PI Mode 1.
 Parameters
error_code U16* Number Unit Motion control error code
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID=0;
U16* error_code;
U32* alm_code;
/* Get Slave error message */

I16 status= _DMC_01_get_alm_code (CardNo, NodeID, SlotID, &alm_code);
/* Use this function when alm_code has a value of 299.

Get error code for current motion of RM04PI. */
I16 status= _DMC_01_rm_04pi_md1_get_mc_error_code (CardNo, NodeID, SlotID,
&error_code);
//Example: error_code of 127 means” Motion command buffer is full” (For a detailed
description of erro_code, please refer to PCI_DMC_01_Err.h)

28.17 _DMC_01_set_rm_04pi_ref_counter
 FORMAT
I16 PASCAL _DMC_01_set_rm_04pi_ref_counter (U16 CardNo, U16 NodeID, U16 SlotID ,
U16 mode)
 Purpose
Selects the reference position after re-connecting to module under M04PI Mode 1.
※Check that link feedback is enabled when using this function.
If yes, set mode parameter to 1; if there is no feedback, set parameter to 0.
 Parameters
0: Reference command counter
mode U16 Selection
1: Reference position counter
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 mode=0; //Reference command counter
I16 status =_DMC_01_set_rm_04pi_ref_counter (CardNo, NodeID, SlotID, mode);


Chapter 29 4-Channel Analog Output Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 29 4-Channel Analog Output

Remote I/O Module API
Table 29.1
_DMC_01_rm_04da_set_output_value Set DA output value
_DMC_01_rm_04da_get_output_value Read DA output
_DMC_01_rm_04da_get_return_code Read DA status
_DMC_01_rm_04da_set_output_range Set DA output range
_DMC_01_rm_04da_set_output_enable Enable/disable pin output
_DMC_01_rm_04da_set_output_overrange Increase output range by 10%
_DMC_01_rm_04da_set_output_error_clear Clear error status
_DMC_01_rm_04da_read_data Get current DA number
Keep original DA settings if the connection is
_DMC_01_rm_04da_set_output_error_handle
broken
_DMC_01_rm_04da_set_output_offset_value Set DA offset
_DMC_01_rm_04da_get_output_offset_value Read DA offset

29.1 _DMC_01_rm_04da_set_output_value
 FORMAT
I16 PASCAL _DMC_01_rm_04da_set_output_value (U16 CardNo, U16 NodeID, U16 SlotID,
U16 ChannelNo, U16 Value)
 Purpose
Sets value of DA output.
 Parameters
NodeID U16 Number Unit Node ID is between 0~12
SlotID U16* Number Unit 0
ChannelNo U16 Number Unit Channel ID is between 0~3
Value U16 Number Unit Output is between 0 ~ 65535
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 ChannelNo = 0;
U16 Value = 0x5ff;
I16 status = _DMC_01_rm_04da_set_output_value (CardNo, NodeID, SlotID, ChannelNo,

Value);

29.2 _DMC_01_rm_04da_get_output_value
 FORMAT
I16 PASCAL _DMC_01_rm_04da_get_output_value (U16 CardNo, U16 NodeID,U16 SlotID,
U16 ChannelNo, U16 *Value)
 Purpose
Reads the value of the DA output.
 Parameters
SlotID U16* Number Unit 0
Value U16 Number Unit Output is between 0 ~ 65535
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 ChannelNo = 0;
U16 Value = 0;
I16 status = _DMC_01_rm_04da_get_output_value (CardNo, NodeID, SlotID, ChannelNo,

&Value);

29.3 _DMC_01_rm_04da_get_return_code
 FORMAT
I16 PASCAL _DMC_01_rm_04da_get_return_code (U16 CardNo, U16 NodeID, U16 SlotID,
U16 ChannelNo, U16* ReturnCode)
 Purpose
Reads DA status.
 Parameters
Data
Name Unit Description
Type
SlotID U16 Number Unit 0
Get return status parameter
D3 D2 D1 D0
out enable out range mode
D7 D6 D5 D4
error over
Data U16 Number Unit return code
handle range
D11 D10 D9 D8
return code
D15 D14 D13 D12
return code
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 ChannelNo = 1;
U16 ReturnCode = 0;
I16 status = _DMC_01_rm_04da_get_return_code (CardNo, NodeID, SlotID, ChannelNo,

&ReturnCode);

29.4 _DMC_01_rm_04da_set_output_range
 FORMAT
I16 PASCAL _DMC_01_rm_04da_set_output_range (U16 CardNo, U16 NodeID, U16 SlotID,
U16 ChannelNo, U16 Range)
 Purpose
Sets the DA output range.
 Parameters
Gain is 0 ~ 7
Number Definition
0 Output range: 0-5V (default)
1 Output range: 0-10V
Range U16 Number Unit 2 Output range: ±5V
3 Output range: ±10V
5 Output range: 4-20mA
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 ChannelNo = 2;
U16 Range = 3; //Select mode 3
I16 status = _DMC_01_rm_04da_set_output_range (CardNo, NodeID, SlotID, ChannelNo,

range);

29.5 _DMC_01_rm_04da_set_output_enable
 FORMAT
I16 PASCAL _DMC_01_rm_04da_set_output_enable (U16 CardNo, U16 NodeID,U16 SlotID,
U16 ChannelNo, U16 Enable)
 Purpose
Enables/disables pin output.
 Parameters
NodeID U16 Number Unit Node ID is (0~12)
0: Output disable
Enable U16 Selection 1: Output enable. Set and send the output
value to target
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 ChannelNo = 3;
U16 Enable = 1; //Enable
I16 status = _DMC_01_rm_04da_set_output_enable (CardNo, NodeID, SlotID, ChannelNo,

Enable);

29.6 _DMC_01_rm_04da_set_output_overrange
 FORMAT
I16 PASCAL _DMC_01_rm_04da_set_output_overrange (U16 CardNo, U16 NodeID, U16
SlotID, U16 ChannelNo, U16 On_Off)
 Purpose
Increases output range by 10%.
 Parameters
0: Disable Overrange
1: Enable Overrange
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 ChannelNo = 0;
U16 On_Off = 1; // enable OverRange
I16 status = _DMC_01_rm_04da_set_output_overrange (CardNo, NodeID, SlotID, ChannelNo,

On_Off);

29.7 _DMC_01_rm_04da_set_output_error_clear
 FORMAT
I16 PASCAL _DMC_01_rm_04da_set_output_error_clear (U16 CardNo, U16 NodeID, U16
SlotID, U16 ChannelNo, U16 On_Off)
 Purpose
Clears error status.
 Parameters
0: Disable CleanError
1: Enable CleanError
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 ChannelNo = 0;
U16 On_Off = 1; //Clear Error
I16 status = _DMC_01_rm_04da_set_output_error_clear (CardNo, NodeID, SlotID,

ChannelNo, On_Off);

29.8 _DMC_01_rm_04da_read_data
 FORMAT
I16 PASCAL _DMC_01_rm_04da_read_data (U16 CardNo, U16 NodeID, U16 SlotID,
U16 ChannelNo, U16* data)
 Purpose
Retrieves current DA number.
 Parameters
Data U16 Number Unit Get data 0 ~ 65535
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotId = 0;
U16 ChannelNo = 2;
U16 Data = 0;
I16 status = _DMC_01_rm_04da_read_data (CardNo, NodeID, SlotID, ChannelNo, &Data);

29.9 _DMC_01_rm_04da_set_output_error_handle
 FORMAT
I16 PASCAL _DMC_01_rm_04da_set_output_error_handle (U16 CardNo, U16 NodeID,
U16 SlotID, U16 ChannelNo, U16 On_Off)
 Purpose
Keeps original DA settings if the connection is broken.
 Parameters
0: Disable ErrorHandle
1: Enable ErrorHandle
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotId = 0;
U16 ChannelNo = 3;
U16 On_Off = 1; // enable ErrorHandle
I16 status = _DMC_01_rm_04da_set_output_error_handle (CardNo, NodeID, SlotID,

ChannelNo, On_Off);

29.10 _DMC_01_rm_04da_set_output_offset_value
 FORMAT
I16 PASCAL _DMC_01_rm_04da_set_output_offset_value (U16 CardNo, U16 NodeID,
U16 SlotID, U16 ChannelNo, I16 Value)
 Purpose
Sets the DA offset value.
 Parameters
Data
Type
Value is +127 ~ -128
 1 Step of Value = 38.14μv
 Adjust the offset of the channel by -16 LSBs to
+15.875 LSBs in increments of 1/8 LSB
Number Definition
127 Offset Adjustment: +15.875 LSBs (4.844mv)
SetValue I16 Selection
… ……
0 No Adjustment (default)
… ……
-127 Offset Adjustment: -15.875 LSBs(- 4.844mv)
-128 Offset Adjustment: -16 LSBs(- 4.882mv)
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotId = 0;
U16 ChannelNo = 0;
I16 Value = 0xf; //Set offset as 0xf
I16 status = _DMC_01_rm_04da_set_output_offset_value (CardNo, NodeID, SlotID,

ChannelNo, Value);

29.11 _DMC_01_rm_04da_get_output_offset_value
 FORMAT
I16 PASCAL _DMC_01_rm_04da_get_output_offset_value (U16 CardNo, U16 NodeID,
U16 SlotID, U16 ChannelNo, I16 *Value)
 Purpose
Reads the DA offset value.
 Parameters
Data
Type
Value is +127 ~ -128
 1 Step of Value = 38.14μv
 Adjust the offset of the channel by -16 LSBs to
+15.875 LSBs in increments of 1/8 LSB
Number Definition
SetValue I16 Selection
… ……
0 No Adjustment (default)
… ……
-127 Offset Adjustment: -15.875 LSBs(- 4.844mv)
-128 Offset Adjustment: -16 LSBs(- 4.882mv)
 Example
U16 CardNo = 0, NodeID = 1, SlotId = 0;
U16 ChannelNo = 0;
I16 Value = 0;
I16 status = _DMC_01_rm_04da_get_output_offset_value (CardNo, NodeID, SlotID,

ChannelNo, & Value);

Chapter 30 4-Channel Analog Input Remote I/O Module API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 30 4-Channel Analog Input

Remote I/O Module API
Table 30.1
_DMC_01_set_04ad_input_range Set AD input range
_DMC_01_get_04ad_input_range Get current AD Input range
_DMC_01_set_04ad_zero_scale Set AD zero level for range calibration
_DMC_01_get_04ad_zero_scale_status Check if AD zero calibration is complete
_DMC_01_set_04ad_full_scale Set AD maximum level for range calibration
_DMC_01_get_04ad_full_scale_status Check if AD maximum level calibration is
complete
_DMC_01_set_04ad_conversion_time Set AD conversion time
_DMC_01_get_04ad_conversion_time Get current AD conversion time
_DMC_01_get_04ad_data Read input voltage
_DMC_01_set_04ad_average_mode Set AD average mode
_DMC_01_get_04ad_average_mode Get AD average mode
_DMC_01_set_04ad_input_enable Enable/disable AD Channel Input feedback

30.1 _DMC_01_set_04ad_input_range
 FORMAT
I16 _DMC_01_set_04ad_input_range (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno,
U16 range)
 Purpose
Sets the AD input range.
 Parameters
Input value is 0 ~ 3
Number Definition
0 Input range: -10V~10V
Range U16 Number Unit
1 Input range: 0V~10V
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 channelno = 0;
U16 range = 1; //Select Range -10 ~ 10V
I16 status = _DMC_01_set_04ad_input_range (CardNo, NodeID, SlotID, channelno, range);

30.2 _DMC_01_get_04ad_input_range
 FORMAT
I16 _DMC_01_get_04ad_input_range (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno,
U16 *range)
 Purpose
Retrieves the current AD Input range.
 Parameters
Get return parameter. Value is 0 ~ 3
Number Definition
Range U16 Number Unit
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 channelno = 1;
U16 range;
I16 status = _DMC_01_get_04ad_input_range (CardNo, NodeID, SlotID, channelno, &range);

30.3 _DMC_01_set_04ad_zero_scale
 FORMAT
I16 _DMC_01_set_04ad_zero_scale (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno)
 Purpose
Sets AD zero level for range calibration.
 Parameters
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 channelno = 2;
I16 status = _DMC_01_set_04ad_zero_scale (CardNo, NodeID, SlotID, channelno);

30.4 _DMC_01_get_04ad_zero_scale_status
 FORMAT
I16 _DMC_01_get_04ad_zero_scale_status (U16 CardNo, U16 NodeID, U16 SlotID,
U16 channelno, U16* status)
 Purpose
Checks if AD zero calibration is complete.
 Parameters
0: Zero calibration completed.
Status U16 Selection
1: Zero calibration not completed.
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 channelno = 3;
U16 status;
I16 status = _DMC_01_get_04ad_zero_scale_status (CardNo, NodeID, SlotID, channelno,

&status);

30.5 _DMC_01_set_04ad_full_scale
 FORMAT
I16 _DMC_01_set_04ad_full_scale (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno)
 Purpose
Sets AD maximum level for range calibration.
 Parameters
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 channelno = 0;
I16 status = _DMC_01_set_04ad_full_scale (CardNo, NodeID, SlotID, channelno);

30.6 _DMC_01_get_04ad_full_scale_status
 FORMAT
I16 _DMC_01_get_04ad_full_scale_status (U16 CardNo, U16 NodeID, U16 SlotID,
U16 channelno, U16* status)
 Purpose
Checks if AD maximum level calibration is complete.
 Parameters
0: Zero calibration completed.
Status U16 Selection
1: Zero calibration not completed.
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 channelno = 0;
U16 status;
I16 status = _DMC_01_get_04ad_full_scale_status (CardNo, NodeID, SlotID, channelno,

&status);

30.7 _DMC_01_set_04ad_conversion_time
 FORMAT
I16 _DMC_01_set_04ad_conversion_time (U16 CardNo, U16 NodeID, U16 SlotID,
U16 mode)
 Purpose
Sets AD conversion time.
 Parameters
Data
Type
Input value is 0 ~ 6
Output -3 dB
RMS noise
Number frequency frequency
(µv)
(Hz) (Hz)
0 372 200 9.6
Mode U16 Selection 1 1001 520 15.5
2 2005 1040 22.7
3 2534 1300 26.1
4 4826 2500 39.2
5 6041 3100 46.0
6 12166 6300 120.0
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 mode = 1;
I16 status = _DMC_01_set_04ad_conversion_time (CardNo, NodeID, SlotID, mode);

30.8 _DMC_01_get_04ad_conversion_time
 FORMAT
I16 _DMC_01_get_04ad_conversion_time (U16 CardNo, U16 NodeID, U16 SlotID,
U16* mode)
 Purpose
Retrieves current AD conversion time.
 Parameters
Number
Unit
Number
NodeID U16 Node ID is (0~12)
Unit
Number
SlotID U16 0
Unit
Output is between 0 ~ 6
Output -3 dB
RMS noise
Number frequency frequency
(µv)
(Hz) (Hz)
0 372 200 9.6
Mode U16 Selection 1 1001 520 15.5
2 2005 1040 22.7
3 2534 1300 26.1
4 4826 2500 39.2
5 6041 3100 46.0
6 12166 6300 120.0
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotId = 0;
U16 mode;
I16 status = _DMC_01_get_04ad_conversion_time(CardNo, NodeID, SlotID, &mode);

30.9 _DMC_01_get_04ad_data
 FORMAT
I16 _DMC_01_get_04ad_data (U16 CardNo, U16 NodeID, U16 SlotID, U16 channelno,
U16* value)
 Purpose
Reads input voltage.
 Parameters
ReturnData U16 Number Unit 0~65535
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotId = 0;
U16 channelno = 2;
U16 value;
I16 status = _ DMC_01_get_04ad_data (CardNo, NodeID, SlotID, channelno, &value);

30.10 _DMC_01_set_04ad_average_mode
 FORMAT
I16 _DMC_01_set_04ad_average_mode (U16 CardNo, U16 NodeID, U16 SlotID,
U16 channelno, U16 mode)
 Purpose
Sets AD average mode.
 Parameters
Input value 0~5
Set frequency of
Number
average value
0 0
Mode U16 Number Unit 1 2
2 4
3 8
4 16
5 32
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 channelno = 1;
U16 mode = 1;
I16 status = _DMC_01_set_04ad_average_mode(CardNo, NodeID, SlotID, channelno,

mode);

30.11 _DMC_01_get_04ad_average_mode
 FORMAT
I16 _DMC_01_get_04ad_average_mode (U16 CardNo, U16 NodeID, U16 SlotID, U16
channelno, U16* mode)
 Purpose
Retrieves AD average mode.
 Parameters
Read value 0~5
Set frequency of
Number
average value
0 0
Mode U16 Number Unit 1 2
2 4
3 8
4 16
5 32
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 channelno = 1;
U16 mode;
I16 status = _ DMC_01_get_04ad_average_mode (CardNo, NodeID, SlotID, channelno,

&mode);

30.12 _DMC_01_set_04ad_input_enable
 FORMAT
I16 _DMC_01_set_04ad_input_enable (U16 CardNo, U16 NodeID, U16 SlotID,
U16 channelno, U16 ON_OFF)
 Purpose
Enables/disables AD Channel Input feedback.
 Parameters
Data
Type
On_Off U16 Number Unit 0:Disable 1:Enable
 Example
U16 CardNo = 0;
U16 NodeID = 1;
U16 SlotID = 0;
U16 channelno = 1;
U16 ON_OFF=1;
I16 status = _DMC_01_ set_04ad_input_enable (CardNo, NodeID, SlotID, channelno,

ON_OFF);


Chapter 31 Slave Data API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 31 Slave Data API
Table 31.1
_DMC_01_get_devicetype Get Slave device type
_DMC_01_get_slave_version Get Slave device firmware version

31.1 _DMC_01_get_devicetype
 FORMAT
I16 PASCAL _DMC_01_get_devicetype (I16 CardNo, U16 NodeID, U16 SlotID,
U32 *DeviceType, U32 *IdentityObject)
 Purpose
Retrieves slave device type.
 Parameters
CardNo I16 Number Unit CardNo is between 0~15
Slave device type (see Notes on the following
DeviceType U32* Number
page for details)
IdentityObject U32* Number Object dictionary code for device
 Example
I16 CardNo=0, NodeID=1, SlotID=0;
U32 DeviceType, IdentityObject;
I16 status = _DMC_01_get_devicetype (CardNo, NodeID, SlotID, &DeviceType,
&IdentityObject);

NOTE
※Table of device type codes used for the DeviceType variable:

Device Type Code Device Type Code
A2 Series Servo Drives 0x04020192 M Series Servo Drives 0x06020192
A2R Series Servo Drives 0x08020192 S Series Servo Drives 0x09020192
ASD-DMC-RM32MN 0x04110191 ASD-DMC-RM64MN 0x08110191
ASD-DMC-RM32NT 0x04120191 ASD-DMC-RM64NT 0x08120191
ASD-DMC-RM04PI(MD1) 0x1C100191 ASD-DMC-RM04AD 0x08140191
ASD-DMC-RM04PI(MD2) 0x14100191 ASD-DMC-RM04DA 0x08180191
ASD-DMC-RM32PT 0x04130191 ASD-DMC-GE01PG 0x21200191
ASD-DMC-GE01PI 0x11200191 ASD-DMC-GE16MN 0x08230191
ASD-DMC-GE01PH 0x11210191 ASD-DMC-GE16NT (Note 1)
【Note 1】 For ASD-DMC-GE's I/O module (GE16MN/GE16NT), its 64-point I/O is
treated as 1 Device type. i.e. It is one Node.
※Table of the object dictionary codes for each device type:

Object Dictionary Code
A2 Series Servo Drives 0x6000
M Series Servo Drives 0x6030
A2R Series Servo Drives 0x6040
S Series Servo Drives 0x6050
Remote module 0x1000
Gateway module 0x2000

31.2 _DMC_01_get_slave_version
 FORMAT
I16 PASCAL _DMC_01_get_slave_version (I16 CardNo, U16 NodeID,U16 SlotID,
U16* version)
 Purpose
Retrieves slave device firmware version.
 Parameters
version U16* Version number Slave firmware version
 Example
I16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 version;
I16 status = _DMC_01_get_slave_version(CardNo, NodeID, SlotID, &version);

Chapter 32 Parameter Monitoring API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 32 Parameter Monitoring API
Table 32.1
_DMC_01_set_monitor Set parameter to monitor
_DMC_01_get_monitor Get value for monitored parameter
_DMC_01_get_servo_command Get servo drive command value
_DMC_01_get_servo_DI Get servo drive DI message value
_DMC_01_get_servo_DO Get servo drive DO message value

32.1 _DMC_01_set_monitor
 FORMAT
I16 PASCAL _DMC_01_set_monitor (U16 CardNo, U16 NodeID, U16 SlotID, U16 monitorw)
 Purpose
Sets parameter to monitor.
 Parameters
monitorw U16 Number Parameter to monitor
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 monitorw=122; //Set DMCNET operation time
I16 status = _DMC_01_set_monitor (CardNo, NodeID, SlotID, monitorw);
※Please see table 32.2 for monitor values

 Reference
Table 32.2
Monitor
04PI
item Monitor item Unit Data length
Servo
index
Motor feedback pulse (after
0 User 32-bit[signed integer] □ ■
electronic gear comparison)
Pulse command input count
1 (after electronic gear User 32-bit[signed integer] □ ■
comparison)
Difference between control
2 command pulse and feedback User 32-bit[signed integer] □ ■
pulse
1,280,000
3 Motor feedback pulse 32-bit[signed integer] □ ■
Pulse/rev
Pulse command input count
Number of
4 (before electronic gear 32-bit[signed integer] □ ■
pulses
comparison)
Difference pulses (after Number of
5 32-bit[signed integer] □ ■
electronic gear) pulses
Number of
6 Pulse command input frequency forwarded 16-bit[signed integer] □ ■
packets (K/sec)
0.1
7 Motor rotation speed revolutions/min 32-bit[signed integer] □ ■
ute
8 Velocity input command 0.01V 16-bit[signed integer] □ ■
0.1
9 Velocity input command revolutions/min 32-bit[signed integer] □ ■
ute
10 Torque input command 0.01V 16-bit[signed integer] □ ■
11 Torque input command Percentage (%) 16-bit[signed integer] □ ■
12 Average torque Percentage (%) 16-bit[signed integer] □ ■
13 Peak torque Percentage (%) 16-bit[signed integer] □ ■
Main circuit voltage (BUS 16-bit[unsigned
14 Volt □ ■
voltage) integer]

Monitor
04PI
item Monitor item Unit Data length
Servo
index
16-bit[unsigned
15 Load/motor inertia ratio 0.1 times □ ■
integer]
16 IGBT temperature o
C 16-bit[signed integer] □ ■
16-bit[unsigned
17 Resonant frequency Hertz □ ■
integer]
Value at Z-phase Home
18 -5000 ~ +5000 16-bit[signed integer] □ ■
(Number of pulses)
32-bit[unsigned
19 Parameter map #1: P0 - 25 Number □ ■
integer]
32-bit[unsigned
integer]
32-bit[unsigned
integer]
32-bit[unsigned
integer]
23 Monitored variable #1: P0 - 09 Number 32-bit[signed integer] □ ■
26 Monitored variable #4: P0 – 12 Number 32-bit[signed integer] □ ■
Value at Z-phase Home (after -Half circle ~ +
27 32-bit[signed integer] □ ■
electronic gear comparison) Half circle
32-bit[unsigned
28 Error code Number ■ ■
integer]
16-bit[unsigned
39 DI status ■ ■
integer]
16-bit[unsigned
40 DO status ■ ■
integer]
16-bit[unsigned
120 DMCNET communication status □ ■
integer]
32-bit[unsigned
121 DMCNET packet error counter □ ■
integer]
16-bit[unsigned
122 DMCNET operation time Second □ ■
integer]

32.2 _DMC_01_get_monitor
 FORMAT
I16 PASCAL _DMC_01_set_command (U16 CardNo, U16 NodeID, U16 SlotID, U32 cmd)
 Purpose
Retrieves value of monitored parameter.
 Parameters
value U32* Number Current value of monitored parameter
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U32 value;
/* Please refer to Table 32.2 for returned value*/

I16 status = _DMC_01_get_monitor (CardNo, NodeID, SlotID, &value);

32.3 _DMC_01_get_servo_command
 FORMAT
I16 PASCAL _DMC_01_get_servo_command (U16 CardNo, U16 NodeID, U16 SlotID,
U32 *servo_cmd)
 Purpose
Retrieves servo drive command value.
 Parameters
servo_cmd U32* Number Server command value
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U32 servo_cmd;
/* Value of servo_cmd is the value of the command for returning to servo position */
I16 status = _DMC_01_get_servo_command (CardNo, NodeID, SlotID, &servo_cmd);

32.4 _DMC_01_get_servo_DI
 FORMAT
I16 PASCAL _DMC_01_get_servo_DI (U16 CardNo, U16 NodeID, U16 SlotID,
U16 *servo_DI)
 Purpose
Retrieves server DI message value.
 Parameters
servo_DI U16* Number Value of signals DI1 ~ DI8 on server
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 servo_DI;
I16 status = _DMC_01_get_servo_DI (CardNo, NodeID, SlotID, &servo_DI);

32.5 _DMC_01_get_servo_DO
 FORMAT
I16 PASCAL _DMC_01_get_servo_DO (U16 CardNo, U16 NodeID, U16 SlotID,
U16 *servo_DO)
 Purpose
Retrieves server DO message value.
 Parameters
servo_DO U16* Number Value of signals DO1 ~ DO5 on server
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 servo_DO;
I16 status = _DMC_01_get_servo_DO (CardNo, NodeID, SlotID, &servo_DO);

Chapter 33 Alarm Message API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 33 Alarm Message API
Table 33.1
_DMC_01_set_ralm Reset output servo drive alarm message
_DMC_01_get_alm_code Get Slave alarm code
_DMC_01_master_alm_code Get the Master Card connection alarm code
_DMC_01_slave_error Get number of consecutive errors during Slave
communication

33.1 _DMC_01_set_ralm
 FORMAT
I16 PASCAL _DMC_01_set_ralm (U16 CardNo, U16 NodeID, U16 SlotID)
 Purpose
Resets output servo drive alarm message.
 Parameters
 Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID =0; //If Slot ID is set to 0, then the Slave is a servo drive
I16 status= _DMC_01_set_ralm (CardNo, NodeID, SlotID);

33.2 _DMC_01_get_alm_code
 FORMAT
I16 PASCAL _DMC_01_get_alm_code (U16 CardNo, U16 NodeID, U16 SlotID, U32
*alm_code)
 Purpose
Retrieves slave alarm code.
 Parameters
alm_code U32* Number Unit Slave error code
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U32 alm_code;
/* Value of alm_code represents Slave error information. Please refer to the server manual for
details on server error codes. */
I16 status= _DMC_01_get_alm_code (CardNo, NodeID, SlotID, &alm_code);

33.3 _DMC_01_master_alm_code
 FORMAT
I16 PASCAL _DMC_01_master_alm_code (U16 CardNo,U16* alm_code)
 Purpose
Retrieves the Master Card connection alarm code.
 Parameters
alm_code U16* Number Error code for Master Card connection failure
 Example
U16 CardNo=0;
U16 alm_code;
I16 status= _DMC_01_master_alm_code (CardNo , &alm_code);
 Error Code List
Error code Error Description

185 Unstable link

33.4 _DMC_01_slave_error
 FORMAT
I16 PASCAL _DMC_01_slave_error (U16 CardNo, U16 NodeID,U16 SlotID,U16* alm_cnt)
 Purpose
Retrieves number of consecutive errors during slave communications.
 Parameters
Number of consecutive errors during Slave
alm_cnt U16* Frequency
communications
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 alm_code;
I16 status= _DMC_01_slave_error (CardNo, NodeID, SlotID, &alm_code);


Chapter 34 Multi-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 34 Multi-Axis Motion Control

API
Table 34.1
_DMC_01_multi_axes_move Set motion control for more than 2 axes
_ DMC_01_liner_speed_master Set multi-axis linear motion control velocity
_DMC_01_start_v3_multi_axes Multi-axis (more than 2 axes) motion control
with added EndVel

34.1 _DMC_01_multi_axes_move
 FORMAT
I16 PASCAL _DMC_01_multi_axes_move(U16 CardNo,U16 AxisNum, U16* NodeID,
U16* SlotID, I32 *DistArrary, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve,
U16 m_r_a)
 Purpose
Sets motion control for more than 2 axes.
 Parameters
AxisNum U16 Number Unit Axis ID
Number of
DistArrary I32* Motion to be executed by each axis
pulses array
Pulses per
second
Pulses per
second
1: T-curve
2: S-curve
m_r_a U16 Selection

 Example
U16 CardNo=0, AxisNum=4;
U16 NodeID[4]={1,2,3,4}, SlotID[4]={0,1,2,3};
I32 DistArrary[4]={1000, 2000, 3000, 6000};
F64 Tacc=0.1, Tdec=0.1;
U16 m_curve=1;
U16 m_r_a=0;
/*Set as multi-axis motion control using absolute coordinates with T-curve velocity
cross-section. */
I16 status = _DMC_01_multi_axes_move(CardNo, AxisNum, NodeID, SlotID, DistArrary,

34.2 _ DMC_01_liner_speed_master
 FORMAT
I16 PASCAL _ DMC_01_liner_speed_master (U16 CardNo,U16 AxisNum, U16* NodeID,
U16* SlotID, I32 *DistArrary, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve,
U16 m_r_a)
 Purpose
When setting the multi-axis (Line2, Line3, Multi_Axis) motion velocity, the original motion
velocity setting (Mode=0) is for velocity while (Mode=1) has velocity set as the component
velocity speed for the axis with the greatest travel (Once the Master axis is configured, the
velocities for other axes will be automatically calculated based on the value of the Master
axis).
 Parameters
0: Velocity (Default setting).
Mode U16 Selection 1: Maximum component velocity for axis with
longest travel.
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Mode=1;
I16 status = _ DMC_01_liner_speed_master (CardNo, NodeID, SlotID, Mode);

34.3 _DMC_01_start_v3_multi_axes
 FORMAT
I16 PASCAL _DMC_01_start_v3_multi_axes(U16 CardNo,U16 AxisNum, U16* NodeID, U16*
SlotID, I32 *DistArrary, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2,
 Purpose
Multi-axis (more than 2 axes) motion control with added EndVel.
 Parameters
AxisNum U16 Number Unit Axis ID
Number of
DistArrary I32* Motion to be executed by each axis
pulses array
Pulses per
second
Pulses per
second
Pulses per
second
1: T-curve
2: S-curve
m_r_a U16 Selection

 Description
 Example
U16 CardNo=0, AxisNum=4;
U16 NodeID[4]={1,2,3,4}, SlotID[4]={0,1,2,3};
I32 DistArrary[4]={1000, 2000, 3000, 6000};
I32 EndVel=20000;
F64 TPhase1=0.2;
F64 TPhase2=0.1;
I16 status = _DMC_01_multi_axes_move (CardNo, AxisNum, NodeID, SlotID, DistArrary,


Chapter 35 Buffer Operation API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 35 Buffer Operation API
Table 35.1
_DMC_01_set_trigger_buf_function Use servo drive DI3 (SLD) to trigger Motion
command

Chapter 35 Buffer Operation API | PCI-DMC-A01 / PCI-DMC-B01
35.1 _DMC_01_set_trigger_buf_function
 FORMAT
I16 PASCAL _DMC_01_set_trigger_buf_function (I16 CardNo, U16 NodeID, U16 SlotID,
U16 enable)
 Purpose
Uses servo drive DI3 (SLD) to trigger Motion command.
 Parameters
0: Execute any motion command in buffer
enable U16 Selection 1: Use to DI to trigger motion command in
buffer
 Example
I16 CardNo=0
U16 NodeID=1, SlotID=0;
U16 enable=1; //Enable this functionTrigger DI3 (SLD) to get motion command in buffer
I16 status = _DMC_01_set_trigger_buf_function (CardNo, NodeID, SlotID, enable);

Chapter 36 Interrupt API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 36 Interrupt API
Table 36.1
_DMC_01_set_int_factor Set interrupt mode. Total of 8 modes available.
_DMC_01_int_enable Enable interrupt feedback
_DMC_01_int_disable Disable disable interrupt.
_DMC_01_get_int_count Interrupt count.
_DMC_01_get_int_status Get current interrupt status
_DMC_01_Link_interrupt Link handling procedure. Called if interrupt
enabled.

36.1 _DMC_01_ set_int_factor
 FORMAT
I16 PASCAL _DMC_01_set_int_factor (U16 CardNo, U16 NodeID, U16 int_factor)
 Purpose
Sets interrupt mode.
 Parameters
There are 8 modes in total:
1. Normal Stop
2. Next Buffer
3. Acceleration End
int_factor U16 Selection 4. Deceleration Start
5. Sdo Finish (unavailable)
6. DMC Cycle Start
7. RM04PI-FIFO
8. User Defined (unavailable)
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 int_facter=1; //Normal Stop
I16 status = _DMC_01_set_int_factor (CardNo, NodeID, int_factor);

36.2 _DMC_01_ int_enable
 FORMAT
I16 PASCAL _DMC_01_int_enable (U16 CardNo, U16 NodeID)
 Purpose
Enables interrupt.
 Parameters
 Example
U16 CardNo=0;
U16 NodeID=1;
I16 status = _DMC_01_int_enable (CardNo, NodeID);
36.3 _DMC_01_ int_disable
 FORMAT
I16 PASCAL _DMC_01_int_disable (U16 CardNo, U16 NodeID)
 Purpose
Enables disable interrupt.
 Parameters
 Example
U16 CardNo=0;
U16 NodeID=1;
I16 status = _DMC_01_int_disable (CardNo, NodeID);

36.4 _DMC_01_ get_int_count
 FORMAT
I16 PASCAL _DMC_01_get_int_count (U16 CardNo, U16 NodeID, U16 count)
 Purpose
Reads interrupt count.
 Parameters
Number of
count U16 Number of successful interrupts
interrupts
 Example
U16 CardNo=0;
U16 NodeID=1;
U16*count;
I16 status =_ DMC_01_get_int_count (CardNo, NodeID, &count);

36.5 _DMC_01_ get_int_status
 FORMAT
I16 PASCAL _DMC_01_get_int_status (U16 CardNo, U16 NodeID, U16 event_int_status)
 Purpose
Reads current interrupt mode.
 Parameters
Event_int_status U16 Selection Current interrupt mode
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 event_int_status;
I16 status = _DMC_01_get_int_status (CardNo, NodeID, & event_int_status);

36.6 _DMC_01_link_ interrupt
 FORMAT
I16 PASCAL _DMC_01_link_interrupt (U16 CardNo, void (__stdcall *callbackAddr)
(U16 CardNo, U16 NodeID))
 Purpose
Sets a handler procedure. When interrupt occurs, enter this handler.
 Parameters
lpCallBackProc U16 Handler Default interrupt handler
 Example
U16 CardNo=0
__stdcall *callbackAddr
I16 status = _DMC_01_link_interrupt (CardNo, , CallBack);
void _stdcall CallBack(U16 CardNo, U16 NodeID)

{
U16 i;
i = CardNo + NodeID;
}

Chapter 37 Security API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 37 Security API
Table 37.1
_DMC_01_read_security Master Card: read security data at specified memory
block
_DMC_01_read_security_status Master Card: get read/write status of current memory
_DMC_01_write_security Master Card: write security data to specified memory
block
_DMC_01_write_security_status Master Card: write memory to function enable before
writing security data
_DMC_01_check_userpassword Master Card: check user has read/write access to
memory
_DMC_01_write_ userpassword Master Card: change password
_DMC_01_check_verifykey Master Card: check verify key
_DMC_01_write_ verifykey Master Card: write verify key
_DMC_01_read_serialno Master Card: read product serial number
_misc_slave_check_userpassword Slave(04PI): check user has read/write access to
memory
_misc_slave_write_userpassword Slave(04PI): change password
_misc_slave_get_serialno Slave(04PI): read product serial no.
_misc_security Encrypt and generate verify key from User Key and
SerialNo
_misc_slave_write_verifykey Slave(04PI): write verify key
_misc_slave_check_verifykey Slave(04PI): check verify key
_misc_slave_user_data_buffer_read Slave(04PI): read data from specified memory block
_misc_slave_user_data_buffer_write Slave(04PI): write security data to specified memory
block
_misc_slave_user_data_to_flash Slave(04PI): write data from Buffer to Flash

37.1 _DMC_01_ read_security
 FORMAT
I16 PASCAL _DMC_01_read_security (U16 CardNo, U16 page, U16 array)
 Purpose
Reads security data specified by the Master Card from memory.
 Parameters
Page U16 Number Unit Specified memory page number for read
array U16 Number Read data from specified memory
 Example
U16 CardNo=0;
U16 Page=0; // 0~F, 16 pages in total
U16 array;
I16 status = _ DMC_01_read_security (CardNo, page ,&array);
37.2 _DMC_01_ read_security_status
 FORMAT
I16 PASCAL _DMC_01_read_security_status (U16 CardNo, U16 status)
 Purpose
Reads current read/write status of the Master Card.
 Parameters
status U16 Flag &H4(Read Only) or &H6(Read/Write)
 Example
U16 CardNo=0;
U16 *status;
I16 status = _DMC_01_read_seacurity_status (CardNo, &status );

37.3 _DMC_01_write_security
 FORMAT
I16 PASCAL _DMC_01_write_security (U16 CardNo, U16 page, U16 array )
 Purpose
Writes security data to memory block specified by the Master Card.
 Parameters
Page U16 Number Unit Specified memory page number for write
array U16 Number Security data to write to specified memory
 Example
U16 CardNo=0;
U16 page=0;
U16 array={1,4,7,11,0a,ff,12,8,0b,10,3,5,c1,14,0d,6};
I16 status =_DMC_01_wtite_security( CardNo, page, array );
37.4 _DMC_01_ write_security_status
 FORMAT
I16 PASCAL _DMC_01_write_security_status (U16 CardNo, U16 status)
 Purpose
Before the Master Card writes security data, writes function enable to memory.
 Parameters
Write function enable (0:disable,1:enable) to
status U16 Flag
memory
 Example
U16 CardNo=0;
U16 status=1;
I16 status = _DMC_01_write_security_status (CardNo, status);

37.5 _DMC_01_ check_userpassword
 FORMAT
I16 PASCAL _DMC_01_ check_userpassword (U16 CardNo, U32 password_data, U16
password_state)
 Purpose
Before reading/writing data on the Master Card, checks that user has permission to read/write
to memory.
 Parameters
Password_data U32 Number Enter password to check
Password_state U16 Flag Response after password check. 0Fail 1OK
 Example
U16 CardNo=0;
U32 Password_data; //64bit data
U16 Password_state;
I16 status = _DMC_01_ check_userpassword ( CardNo, Password_data, &Password_state );
37.6 _DMC_01_write_ userpassword
 FORMAT
I16 PASCAL _DMC_01_write_ userpassword (U16 CardNo, U32 password_data)
 Purpose
Master Card: Changes user password.
 Parameters
Password_data U32 Number Enter password to change
 Example
U16 CardNo=0;
I16 status = _DMC_01_ write_userpassword ( CardNo, Password_data );

37.7 _DMC_01_check_verifykey
 FORMAT
I16 PASCAL _DMC_01_check_verifykey (U16 CardNo, U32 Verifykey, U16state)
 Purpose
Master Card: Checks verify key matches.
 Parameters
Verifykey U32 Number Verify key to check
Response after verify key check. 0Lock
State U16 Flag
1Pass
 Example
U16 CardNo=0;
U32 Verifykey; //128bit data
U16 State;
I16 status = _DMC_01_ check_verifykey ( CardNo, Verifykey, &state );
37.8 _DMC_01_write_verifykey
 FORMAT
I16 PASCAL _DMC_01_write_verifykey (U16 CardNo, U32 Verifykey)
 Purpose
Writes verify key to the Master Card.
 Parameters
Verifykey U32 Number Verify key data to write
 Example
U16 CardNo=0;
I16 status = _DMC_01_ write_verifykey (CardNo, Verifykey);

37.9 _DMC_01_ read_serialno
 FORMAT
I16 PASCAL _DMC_01_ read_serialno (U16 CardNo, U32 Serialno)
 Purpose
Reads product serial number in the Master Card memory.
 Parameters
Serialno U32 Number Product serial number in memory
 Example
U16 CardNo=0;
U32 Serialno;
I16 status = _DMC_01_ read_serialno ( CardNo, &Serialno );

37.10 misc_slave_check_userpassword
 FORMAT
I16 PASCAL _misc_slave_check_userpassword (U16 CardNo, U16 NodeID, U16 SlotID, U32
Password_data, U16 *Password_state)
 Purpose
Before read/write data on Slave (04PI), checks that user has permission to read/write to
memory.
 Parameters
NodeID U16 Selection Node ID
Password_data U32 Number Enter password to check
Response after password check. 0Fail
Password_state U16* Flag
1OK
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Password_state;
I16 status = _ misc_slave_check_userpassword (CardNo, NodeID, SlotID, Password_data,

&Password_state);

37.11 _misc_slave_write_userpassword
 FORMAT
I16 PASCAL _misc_slave_write_userpassword (U16 CardNo, U16 NodeID, U16 SlotID, U32
Password_datae)
 Purpose
Writes user password to Slave(04PI).
 Parameters
Password_data U32 Number Password change data to be written to memory
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U32 Password_data;
I16 status = _ misc_slave_write_userpassword (CardNo, NodeID, SlotID, Password_data);

37.12 _misc_slave_get_serialno
 FORMAT
I16 PASCAL _misc_slave_get_serialno (U16 CardNo, U16 NodeID, U16 SlotID, U32 Serialno)
 Purpose
Reads Slave(04PI) product serial number.
 Parameters
Serialno U32 Number Read product serial number in memory
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U32 Serialno;
I16 status = _misc_slave_get_serialno (CardNo, NodeID, SlotID, &Serialno);

37.13 _misc_security
 FORMAT
I16 PASCAL _misc_security (U32 OtherWord0, U32 OtherWord1, U32 SyntekWord0,
U32 SyntekWord1, U32 *Password0, U32 *Password1, U32 *Password2, U32 *Password3)
 Purpose
Slave(04PI): Feeds user specified 64bit key and 64bit Serialno into encryption algorithm to
derive 128bit verify key.
 Parameters
OtherWord0 U32 Number 32bit(0) user specified key
OtherWord1 U32 Number 32bit(1) user specified key
SyntekWord0 U32 Number 32bit (0)Serialno
SyntekWord1 U32 Number 32bit (1)Serialno
32bit(0) verify key generated by encryption
Password0 U32* Number
function
function
function
function
 Example
U32 OtherWord0; //32bit
U32 OtherWord1; //32bit
U32 SyntekWord0; //32bit
U32 SyntekWord1; //32bit
U32 Password0;
U32 Password1;
U32 Password2;
U32 Password3;
I16 status = _misc_security (OtherWord0, OtherWord1, SyntekWord0, SyntekWord1,

&Password0, &Password1, &Password2, &Password3);

37.14 _misc_slave_write_verifykey
 FORMAT
I16 PASCAL _misc_slave_write_verifykey (U16 CardNo, U16 NodeID, U16 SlotID, U32
Verifykey)
 Purpose
Writes verify key to Slave(04PI).
 Parameters
Verifykey U32 Number Write verify key to memory
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
I16 status = _misc_slave_write_verifykey (CardNo, NodeID, SlotID, Verifykey);

37.15 _misc_slave_check_verifykey
 FORMAT
I16 PASCAL _misc_slave_check_verifykey (U16 CardNo, U16 NodeID, U16 SlotID, U32
Verifykey, U16 *Lock_state)
 Purpose
Checks verify key against Slave (04PI).
 Parameters
Verifykey U32 Number Verify key to check
Response after verify key check.
Lock_state U16* Flag 0: LOCK
1: PASS
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Lock_state;
I16 status =_misc_slave_check_verifykey (CardNo, NodeID, SlotID, Verifykey, &Lock_state);

37.16 _misc_slave_user_data_buffer_read
 FORMAT
I16 PASCAL _ misc_slave_user_data_buffer_read (U16 CardNo, U16 NodeID, U16 SlotID
U16 Address, U32* Data)
 Purpose
Reads data from memory specified by Slave (04PI).
 Parameters
Address U16 Number Position to read
Data U32* Number Data stored in memory
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Address;
U32 Data;
I16 status = _ misc_slave_user_data_buffer_read (CardNo, NodeID, SlotID, Address, &Data);

37.17 _misc_slave_user_data_buffer_write
 FORMAT
I16 PASCAL _misc_slave_user_data_buffer_write (U16 CardNo, U16 NodeID, U16 SlotID
U16 Address, U32 Data)
 Purpose
Writes data to buffer.
 Parameters
Address U16 Number Position to write to
Data U32 Number Data to write
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Address;
U32 Data;
I16 status = _ misc_slave_user_data_buffer_write (CardNo, NodeID, SlotID, Address, Data);

37.18 _misc_slave_user_data_to_flash
 FORMAT
I16 PASCAL _ misc_slave_user_data_to_flash (U16 CardNo, U16 NodeID, U16 SlotID)
 Purpose
Writes data in buffer to position specified by Slave(04PI).
 Parameters
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
I16 status = _ misc_slave_user_data_to_flash (CardNo, NodeID, SlotID);


Chapter 38 Limit Reversal API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 38 Limit Reversal API
Table 38.1
_DMC_01_rm_04pi_set_MEL_polarity Set negative limit direction
_DMC_01_rm_04pi_get_MEL_polarity Get negative limit status
_DMC_01_rm_04pi_set_PEL_polarity Set positive limit direction
_DMC_01_rm_04pi_get_PEL_polarity Get positive limit status

38.1 _ DMC_01_rm_04pi_set_MEL_polarity
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_set_MEL_polarity (U16 CardNo, U16 NodeID, U16 SlotID
U16 inverse)
 Purpose
Reverses direction of negative limit.
 Parameters
0: Positive
Inverse U16 Selection data
1: Negative
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Inverse=1; //Reverse direction of negative limit
I16 status = _DMC_01_rm_04pi_set_MEL_polarity (CardNo, NodeID, SlotID, inverse);

38.2 _ DMC_01_rm_04pi_get_MEL_polarity
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_get_MEL_polarity (U16 CardNo, U16 NodeID, U16 SlotID
U16 *data)
 Purpose
Retrieves current status of negative limit.
 Parameters
0: Positive
Data U16 Selection data
1: Negative
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Data ;
I16 status = _DMC_01_rm_04pi_get_MEL_polarity (CardNo, NodeID, SlotID, &data);

38.3 _ DMC_01_rm_04pi_set_PEL_polarity
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_set_PEL_polarity (U16 CardNo, U16 NodeID, U16 SlotID
U16 inverse)
 Purpose
Reverses direction of positive limit.
 Parameters
0: Positive
Inverse U16 Selection data
1: Negative
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Inverse=1; /Reverse direction of positive limit
I16 status = _DMC_01_rm_04pi_set_PEL_polarity (CardNo, NodeID, SlotID, inverse);

38.4 _ DMC_01_rm_04pi_get_PEL_polarity
 FORMAT
I16 PASCAL _DMC_01_rm_04pi_get_PEL_polarity (U16 CardNo, U16 NodeID, U16 SlotID
U16 *data)
 Purpose
Retrieves positive limit status.
 Parameters
0: Positive;
Data U16 Flag
1: Negative
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 Data;
I16 status = _DMC_01_rm_04pi_get_PEL_polarity (CardNo, NodeID, SlotID, &data);


Chapter 39 Compare API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 39 Compare API
Table 39.1
_DMC_01_set_compare_channel_position Set new Channel Position
_DMC_01_get_compare_channel_position Read current Channel position
_DMC_01_set_compare_ipulse_mode Set input phase mode for pulse
interface module
_DMC_01_set_compare_channel_direction Set Channel pulse direction
_DMC_01_set_compare_channel_trigger_time Set Trigger enable time
_DMC_01_set_compare_channel_one_shot Set Trigger to one-time enable
_DMC_01_set_compare_channel_source Compare source
_DMC_01_channel0_position_cmp Set Compare Type to Compare1
_DMC_01_channel1_output_enable Set Compare2 output to enable/disable
_DMC_01_channel1_output_mode Compare2 output mode
_DMC_01_channel1_get_io_status Read Compare2 status
_DMC_01_channel1_set_gpio_out Set GPIO output pin status
_DMC_01_channel1_position_compare_table Set Compare2 to standard Compare
data
_DMC_01_channel1_position_compare_table_level Set Compare2 to custom Compare
data
_DMC_01_channel1_position_compare_table_cnt Read Compare counter
_DMC_01_set_compare_channel_polarity Set Compare polarity
_DMC_01_channel0_position_cmp_by_gpio Set Compare trigger to GPIO control
Use previous Compare condition
_DMC_01_channel1_position_re_compare_table
and-execute Channel1 Compare again
Use previous Compare condition
_DMC_01_channel1_position_re_compare_table_level and-execute Channel1 Compare
(Level mode) again

39.1 _ DMC_01_set_compare_channel_position
 FORMAT
I16 PASCAL _ DMC_01_set_compare_channel_position (U16 CardNo,
U16 compare_channel, I32 position)
 Purpose
Sets new value for Position counter of Channel.
 Parameters
Number
Unit
Number
Compare_Channel U16 Channel No is 0~1
Unit
Number
Position I32 New position value to set
Unit
 Example
U16 CardNo = 0;
U16 Compare_Channel = 0;
I32 Position = 0;
I16 status = _ DMC_01_set_compare_channel_position (CardNo, compare_channel,

position);

39.2 _DMC_01_get_compare_channel_position
 FORMAT
I16 PASCAL _DMC_01_get_compare_channel_position (U16 CardNo,
U16 compare_Channel, I32 *position)
 Purpose
Reads current value of Position counter for that Channel.
 Parameters
Number
Unit
Number
Compare_Channel U16 Channel No is 0~1
Unit
Number of
Position I32* Read positive value
pulses
 Example
U16 CardNo = 0;
U16 Compare_channel = 0;
I32 Position = 100000;
I16 status = _DMC_01_get_compare_channel_position (CardNo, compare_channel,

&position);

39.3 _DMC_01_set_compare_ipulse_mode
 FORMAT
I16 PASCAL _DMC_01_set_compare_ipulse_mode (U16 CardNo, U16 mode)
 Purpose
Sets input phase mode for pulse interface module.
 Parameters
Data
Type
Number
Unit
Number 0: AB Phase
Mode U16
Unit 1: CW/CCW
 Example
U16 CardNo = 0;
U16 mode = 0; //AB Phase
I16 status = _ DMC_01_set_compare_ipulse_mode (CardNo, mode);

39.4 _DMC_01_set_compare_channel_direction
 FORMAT
I16 PASCAL _DMC_01_set_compare_channel_direction (U16 CardNo,
U16 compare_channel, U16 dir)
 Purpose
Sets Channel pulse direction.
 Parameters
Compare_channel U16 Number Unit Channel No¬°0~1
Dir U16 Number Unit 0:Normal 1:Inverse
 Example
U16 CardNo = 0;
U16 Dir = 1; //Inverse
I16 status = _DMC_01_set_compare_channel_direction (CardNo, compare_channel, dir);

39.5 _DMC_01_set_compare_channel_trigger_time
 FORMAT
I16 PASCAL _DMC_01_set_compare_channel_trigger_time (U16 CardNo,
U16 compare_channel, U32 time_us)
 Purpose
Sets Trigger enable duration.
 Parameters
Compare_channel U16 Number Unit Channel No is 0~1
Time_us U32 Time Enter the duration for each Trigger enable
 Example
U16 CardNo = 0;
U16 Time_us = 20; //20us
I16 status = _DMC_01_set_compare_channel_trigger_time(CardNo, compare_channel,

time_us);

39.6 _DMC_01_set_compare_channel_one_shot
 FORMAT
I16 PASCAL _DMC_01_set_compare_channel_one_shot (U16 CardNo,
U16 compare_channel)
 Purpose
Sets Trigger to one-time enable.
 Parameters
 Example
U16 CardNo = 0;
U16 Compare_channel=0;
I16 status = _DMC_01_set_compare_channel_one_shot (CardNo, compare_channel);

39.7 _DMC_01_set_compare_channel_source
 FORMAT
I16 PASCAL _DMC_01_set_compare_channel_source (U16 CardNo,
U16 compare_channel, U16 source)
 Purpose
Sets comparison source.
 Parameters
0: QEP1
Source U16 Number Unit
1: QEP2
 Example
U16 CardNo = 0;
U16 Source = 0;
I16 status = _DMC_01_set_compare_channel_source (CardNo, compare_channel, Source);

39.8 _DMC_01_channel0_position_cmp
 FORMAT
I16 PASCAL _DMC_01_channel0_position_cmp (U16 CardNo, I32 start, U16 dir,
U16 interval, U32 trigger_cnt)
 Purpose
Executes Compare1.
 Parameters
Start I32 Number Unit Starting position for Compare
Dir U16 Number Unit 0: Positive 1: Negative
Number of
Interval U16 Pulse Compare intervals
pulses
Trigger_cnt U32 Number Unit Trigger Compare total
 Example
U16 CardNo = 0;
I32 Start = 100000;
U16 Dir = 0;
U16 Interval = 10; //10 pulse
U32 Trigger_cnt = 50000;
I16 status = _DMC_01_channel0_position_cmp (CardNo, start, dir, interval, trigger_cnt);

39.9 _DMC_01_channel1_output_enable
 FORMAT
I16 PASCAL _DMC_01_channel1_output_enable (U16 CardNo, U16 on_off)
 Purpose
Sets Compare2 output to enable/disable.
 Parameters
0: Off
On_off U16 Number Unit
1: On
 Example
U16 CardNo = 0;
U16 On_off = 1;
I16 status = _DMC_01_channel1_output_enable (CardNo, on_off);

39.10 _DMC_01_channel1_output_mode
 FORMAT
I16 PASCAL _DMC_01_channel1_output_mode (U16 CardNo, U16 Mode)
 Purpose
Compare2 output mode.
 Parameters
0: Normal mode
Mode U16 Number Unit
1: Custom mode
 Description
Normal mode
Figure 39.1 Compare Output Normal mode
※ Trigger On's position table is set using the “table_size” parameter in

API”_DMC_01_channel1_position_compare_table”.
※ Trigger time is set using the “time_us” parameter in
API”_DMC_01_set_compare_channel_trigger_time”.

Custom mode
When set to custom mode, level table's value is set to 0x88880000 as shown in Fig. 39.2.
Figure 39.2 Compare Output's custom mode
※ In custom mode, Trigger On's position table is set

using the “level_table” parameter in
API”_DMC_01_channel1_position_compare_table_level”.
※ Trigger time is the time required to reach the next position (ex. time taken to move from
position 1000 to position 2000)
 Example
U16 CardNo = 0;
U16 Mode = 1;
I16 status = _DMC_01_channel1_output_mode (CardNo, mode);

39.11 _DMC_01_channel1_get_io_status
 FORMAT
I16 PASCAL _DMC_01_channel1_get_io_status (U16 CardNo, U16* io_status)
 Purpose
Reads Compare2 status.
 Parameters
Io_status U16* Number Unit Compare2 status
 Example
U16 CardNo = 0;
U16 Io_status = 1;
I16 status = _DMC_01_channel1_get_io_status (CardNo,& io_status);

39.12 _DMC_01_channel1_set_gpio_out
 FORMAT
I16 PASCAL _DMC_01_channel1_set_gpio_out (U16 CardNo, U16 on_off)
 Purpose
Sets GPIO output pin status.
 Parameters
0: Off
On_off U16 Number Unit
1: On
 Example
U16 CardNo = 0;
U16 On_off = 1;
I16 status = _DMC_01_channel1_set_gpio_out (CardNo, on_off);

39.13 _DMC_01_channel1_position_compare_table
 FORMAT
I16 PASCAL _DMC_01_channel1_position_compare_table (U16 CardNo, I32* pos_table,
U32 table_size,)
 Purpose
Sets Compare2 to standard Compare data.
 Parameters
Calculate the Pos_Table for compare based on the
Pos_table I32* Number Unit
given data
Table_size U32 Number Unit Size of Pos_table to Compare
 Example
U16 CardNo = 0;
I32 Pos_table[4] = {1000,2000,3000,4000};
U32 Table_size =50000;
I16 status = _DMC_01_channel1_position_compare_table t (CardNo, pos_table, table_size);

39.14 _DMC_01_channel1_position_compare_table_level
 FORMAT
I16 PASCAL _DMC_01_channel1_position_compare_table_level (U16 CardNo, I32*
pos_table, U32* level_table, U32 table_size)
 Purpose
Sets Compare2 to custom Compare data.
 Parameters
Calculate the Pos_Table for compare based on the
Pos_table I32* Number Unit
given data
Level_table U32* Number Unit Set Level_table for Compare
Table_size U32 Number Unit Size of Pos_table to Compare
 Example
U16 CardNo = 0;
I32 Pos_table[4] ={1000,2000,3000,4000};
U32 Level_table[4] ={1,0,0,0};
U32 Table_size =50000;
I16 status = _DMC_01_channel1_position_compare_table_level (CardNo, pos_table,

level_table, table_size);

39.15 _DMC_01_channel1_position_compare_table_cnt
 FORMAT
I16 PASCAL _DMC_01_channel1_position_compare_table_cnt (U16 CardNo, U32* cnt)
 Purpose
Reads Compare counter.
 Parameters
Cnt U32* Number Unit Read Compare counter
 Example
U16 CardNo = 0;
U32 Cnt = 12000;
I16 status = _DMC_01_channel1_position_compare_table_cnt (CardNo,& cnt);

39.16 _DMC_01_set_compare_channel_polarity
 FORMAT
I16 PASCAL _DMC_01_set_compare_channel_polarity (U16 CardNo, U16 inverse)
 Purpose
Sets Compare level.
 Parameters
0: Normal
Inverse U16 Number Unit
1: Inverse
 Example
U16 CardNo = 0;
U16 Inverse = 1;
I16 status = _DMC_01_set_compare_channel_polarity (CardNo, inverse);

39.17 _DMC_01_channel0_position_cmp_by_gpio
 FORMAT
I16 PASCAL _DMC_01_channel0_position_cmp_by_gpio (U16 CardNo, U16 dir, U16 interval,
I32 trigger_cnt)
 Purpose
Sets Compare trigger to GPIO control.
 Parameters
Dir U16 Number Unit 0: Positive 1: Negative
Interval U16 Number Unit Pulse Compare intervals
Trigger _cnt I32 Number Unit Trigger Compare total
 Example
U16 CardNo = 0;
U16 Dir = 1;
U16 Interval;
I32 trigger_cnt;
I16 status = _DMC_01_channel0_position_cmp_by_gpio (CardNo, Dir, Interval, trigger_cnt);

39.18 _DMC_01_channel1_position_re_compare_table
 FORMAT
I16 PASCAL _DMC_01_channel1_position_re_compare_table (U16 CardNo)
 Purpose
Uses previous Compare condition and re-executes Channel1 Compare.
 Parameters
 Example
U16 CardNo = 0;
I16 status = _DMC_01_channel1_position_re_compare_table (CardNo);
39.19 _DMC_01_channel1_position_re_compare_table_level
 FORMAT
I16 PASCAL _DMC_01_channel1_position_re_compare_table_level (U16 CardNo)
 Purpose
Uses previous Compare condition and re-executes Channel1 Compare (Level mode).
 Parameters
 Example
U16 CardNo = 0;
I16 status = _DMC_01_channel1_position_re_compare_table_level (CardNo);

Chapter 40 Linear and Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 40 Linear and Arc

Table 40.1
_DMC_01_start_rline_xy 2-axis linear, arc R-angle interpolation motion
control
_DMC_01_start_rline_xyz 3-axis linear, arc R-angle interpolation motion
control
_DMC_01_start_v3_rline_xy 2-axis linear, arc interpolation motion control
with added EndVel
_DMC_01_start_v3_rline_xyz 3-axis linear, arc interpolation motion control
with added EndVel

40.1 _DMC_01_start_rline_xy
 FORMAT
I16 PASCAL _DMC_01_start_rline_xy (U16 CardNo, U16* NodeID, U16* SlotID,
I32 pos1_x, I32 pos1_y, I32 pos2_x, I32 pos2_y, U16 mode, F64 param, I32 StrVel,
I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve, U16 m_r_a)
 Purpose
2-axis linear, arc R-angle interpolation motion control.
 Parameters
Pos1_x I32 Number Unit X-coordinate of first position
Pos1_y I32 Number Unit Y-coordinate of first position
Pos2_x I32 Number Unit X-coordinate of second position
Pos2_y I32 Number Unit Y-coordinate of second position
0: Perpendicular distance from arc to right angle
(AB)
Mode U16 Selection 1: Perpendicular distance from start of arc to
right angle (AB)
2: Arc radius (AB)
Param F64 Number Unit Relative mode distance
StrVel Pulses per Starting velocity
I32
second
MaxVel Pulses per Maximum velocity
I32
second
1: T-curve
2: S-curve
m_r_a U16 Selection

 Description
Mode Parameter Settings
Figure 40.1 Mode = 0 Perpendicular Figure 40.2 Mode = 1 Perpendicular distance

distance from arc to right angle (AB) from start of arc to right angle (AB)
Figure 40.3 Mode = 2 Arc radius (AB)
 Example
U16 CardNo=0, *NodeID=1, *SlotID=0;
I32 pos1_x=0, I32 pos1_y=10000;
I32 pos2_x=10000, I32 pos2_y=10000;
U16 mode=1; param=3000;
F64 Tacc=0.1, Tdec=0.1;
U16 m_curve=1;
U16 m_r_a=0;
cross-section. */
I16 status = _DMC_01_start_rline_xy (CardNo, &NodeID, &SlotID, pos1_x, pos1_y, pos2_x,
pos2_y, mode, param, StrVel, MaxVel, Tacc, Tdec, m_curve, m_r_a);

40.2 _DMC_01_start_rline_xyz
 FORMAT
I16 PASCAL _DMC_01_start_rline_xyz (U16 CardNo, U16* NodeID, U16* SlotID,
I32 pos1_x, I32 pos1_y, I32pos1_z, I32 pos2_x, I32 pos2_y, pos2_z, U16 mode,
F64 param, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve, U16 m_r_a)
 Purpose
3-axis linear, arc R-angle interpolation motion control
 Parameters
Pos1_z I32 Number Unit Z-coordinate of first position
Pulses per
Pos2_z I32 Z-coordinate of second position
second
(AB)
right angle (AB)
Pulses per
second
Pulses per
second
1: T-curve
2: S-curve
m_r_a U16 Selection

 Description
Figure 40.4 Mode = 0 Perpendicular Figure 40.5 Mode = 1 Perpendicular

distance from arc to right angle (AB) distance from start of arc to right angle
Figure 40.6 Mode = 2 Arc radius (AB)
 Example
I32 pos1_x=0, I32 pos1_y=10000, I32 pos1_z=10000;
F64 Tacc=0.1, Tdec=0.1;
U16 m_curve=1;
U16 m_r_a=0;
cross-section. */
I16 status = _DMC_01_start_rline_xyz (CardNo, &NodeID, &SlotID, pos1_x, pos1_y, pos1_z,
pos2_x, pos2_y, pos2_z, mode, param, StrVel, MaxVel, Tacc, Tdec, m_curve,
m_r_a);

40.3 _DMC_01_start_v3_rline_xy
 FORMAT
I16 PASCAL _DMC_01_start_v3_rline_xy (U16 CardNo, U16* NodeID, U16* SlotID,
I32 pos1_x, I32 pos1_y, I32 pos2_x, I32 pos2_y, U16 mode, F64 param, I32 StrVel,
I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 m_curve, U16 m_r_a)
 Purpose
2-axis linear, arc interpolation motion control with added EndVel.
 Parameters
(AB)
right angle (AB)
Pulses per
second
Pulses per
second
Pulses per
second
1: T-curve
2: S-curve
m_r_a U16 Selection

 Description
Figure 40.8 Mode = 0 Perpendicular Figure 40.9 Mode = 1 Perpendicular distance

distance from arc to right angle (AB) from start of arc to right angle (AB)
Figure 40.10 Mode = 2 Arc radius (AB)

 Example
I32 pos1_x=0, I32 pos1_y=10000;
I32 pos2_x=10000, I32 pos2_y=10000;
I32 EndVel=20000;
F64 TPhase1=0.2;
F64 TPhase2=0.1;
cross-section. */
I16 status = _DMC_01_start_v3_rline_xy (CardNo, &NodeID, &SlotID, pos1_x, pos1_y,
pos2_x, pos2_y, mode, param, StrVel, ConstVel, EndVel, TPhase1, TPhase2,
m_curve, m_r_a);

40.4 _DMC_01_start_v3_rline_xyz
 FORMAT
I16 PASCAL _DMC_01_start_v3_rline_xyz (U16 CardNo, U16* NodeID, U16* SlotID,
I32 pos1_x, I32 pos1_y, I32pos1_z, I32 pos2_x, I32 pos2_y, pos2_z, U16 mode,
F64 param, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 m_curve,
U16 m_r_a)
 Purpose
3-axis linear, arc interpolation motion control with added EndVel.
 Parameters
Pos1_z I32 Number Unit Z-coordinate of first position
Pos2_z I32 Pulses per second Z-coordinate of second position
0: Perpendicular distance from arc to right
angle (AB)
Mode U16 Selection 1: Perpendicular distance from start of arc
to right angle (AB)
1: T-curve
2: S-curve
m_r_a U16 Selection

 Example
I32 EndVel=20000;
F64 TPhase1=0.2;
F64 TPhase2=0.1;
cross-section. */
I16 status = _DMC_01_start_rline_xyz (CardNo, &NodeID, &SlotID, pos1_x, pos1_y, pos1_z,
pos2_x, pos2_y, pos2_z, mode, param, StrVel, ConstVel, EndVel, TPhase1,
TPhase2, m_curve, m_r_a);

Chapter 41 Speed Continue API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 41 Speed Continue API
Table 41.1
_DMC_01_speed_continue Enable/disable speed continue
_DMC_01_speed_continue_mode Speed continue mode
_DMC_01_speed_continue_combine_ratio Speed continue combine ratio

41.1 _DMC_01_speed_continue
 FORMAT
I16 PASCAL _DMC_01_speed_continue (U16 CardNo, U16 NodeID, U16 SlotID, U16 enable)
 Purpose
Enables/disables speed continue.
 Parameters
0: Disable speed continue
1: Enable speed continue
 Example
U16 CardNo=0, U16 NodeID=1, SlotID=0;
U16 enable=1;
I16 status = _DMC_01_speed_continue (CardNo, NodeID, SlotID, enable);
NOTE
※ When you set _DMC_01_speed_continue parameter enable=1, all further motion

commands must have StrVel parameter set to 0 in order to achieve the Speed
Continue effect.

41.2 _DMC_01_speed_continue_mode
 FORMAT
I16 PASCAL _DMC_01_speed_continue_mode (U16 CardNo, U16 NodeID, U16 SlotID, U16
mode)
 Purpose
Sets Speed Continue mode.
 Parameters
0: Equivalent Acceleration mode
Mode U16 Selection 1: Acceleration/deceleration mode
2: Maximum velocity mode
 Description
Mode is 0
Assume conditions are set to Dist is 1000, MaxVel is 20000, Tacc and Tdec are both 0.1.
The above conditions mean the MaxVel of 20000 is impossible to reach during this Dist
movement using the original acceleration/deceleration time. When mode is set to 0, MaxVel,
Tacc and Tdec are reduced proportionally. Carry out with equivalent acceleration. Fig. 41.1
shows the original path in black and the actual path in red.
Figure 41.1

Mode is 1
movement using the original acceleration/deceleration time. So when mode is 1, Tac and Tdec
will stay as 0.1 but MaxVel is automatically reduced. Fig. 41.2 shows the original path in black
and the actual path in red.
Figure 41.2
Mode is 2
movement using the original acceleration/deceleration time. When mode is 2, MaxVel will
remain unchanged but Tacc and Tdec will vary as required. Fig. 41.3 shows the original path
in black and the actual path in red.
Figure 41.3
 Example
U16 CardNo=0, U16 NodeID=1, U16 SlotID=0;
U16 mode=1;
I16 status = _DMC_01_speed_continue_mode (CardNo, NodeID, SlotID, mode);

41.3 _DMC_01_speed_continue_combine_ratio
 FORMAT
I16 PASCAL _DMC_01_speed_continue_combine_ratio (U16 CardNo, U16 NodeID,
U16 SlotID, U16 ratio)
 Purpose
Sets Speed Continue combined percentage.
 Parameters
Ratio U16 Number Unit Combined percentage
 Description
Ratio is 100
Figure 41.4
Ratio is 50
Figure 41.5
 Example
U16 CardNo=0, U16 NodeID=1, U16 SlotID=0;
U16 ratio=100;
I16 status = _DMC_01_speed_continue_combine_ratio (CardNo, NodeID, SlotID, ratio);

NOTE
※ When axes 1 ~ 6 carry out Speed Continue, the resources of axes 7 ~ 12 will be used.
Thus, when axes 1~6 are set to Speed Continue Enable, axes 7~12 cannot perform
P2P and Continue motions.
Speed Continue must be disabled for axes 7 ~ 12 to carry out further motions.

Chapter 42 Other API | PCI-DMC-A01 / PCI-DMC-B01
Chapter 42 Other API
Table 42.1
_misc_app_get_circle_endpoint Get endpoint coordinates (X, Y) required for
arc interpolation
_misc_app_get_circle_center_point Get center point coordinates (X, Y) required for
arc interpolation
_misc_set_record_debuging Is Debug log function enabled
_misc_open_record_debuging_file Set Debug output log file path
_DMC_01_enable_dda_mode Enable DDA Table writing function
_DMC_01_set_dda_data Enter DDA Table data
_DMC_01_get_dda_cnt Get number of remaining entries in DDA Table

42.1 _misc_app_get_circle_endpoint
 FORMAT
I16 PASCAL _misc_app_get_circle_endpoint (I32 Start_X, I32 Start_Y, I32 Center_X,
I32 Center_Y, F64 Angle, I32* End_x, I32* End_y)
 Purpose
Retrieves endpoint coordinates (X, Y) required for arc interpolation.
 Parameters
Start_X I32 Number of pulses Starting X-coordinate
Start_Y I32 Number of pulses Starting Y-coordinate
Center_X I32 Number of pulses Center point's X-coordinate.
Center_Y I32 Number of pulses Center point's Y-coordinate.
End_x I32* Number of pulses Endpoint's X-coordinate.
End_y I32* Number of pulses Endpoint's Y-coordinate.
 Example
I32 Start_X=0, Start_Y=0;
I32 Center_X=100000, Center_Y=0;
I32 End_x, End_y;
F64 Angle=180;
I16 status = _misc_app_get_circle_endpoint (Start_X, Start_Y, Center_X, Center_Y, Angle,

&End_x, &End_y);

42.2 _misc_app_get_circle_center_point
 FORMAT
I16 PASCAL _misc_app_get_circle_center_point (I32 Start_X, I32 Start_Y, I32 End_x,
I32 End_y, F64 Angle, I32* Center_X, I32* Center_Y)
 Purpose
Retrieves center point coordinates (X, Y) required for arc interpolation.
 Parameters
Start_X I32 Number of pulses Starting X-coordinate
Start_Y I32 Number of pulses Starting Y-coordinate
End_x I32 Number of pulses Endpoint's X-coordinate.
End_y I32 Number of pulses Endpoint's Y-coordinate.
Angle F64 Degree (°) Set arc angle. One full arc is 360º
Center_X I32* Number of pulses Center point's X-coordinate.
Center_Y I32* Number of pulses Center point's Y-coordinate.
 Example
I32 Start_X=0, Start_Y=0;
I32 End_x=100000, End_y0;
I32 Center_X, Center_Y;
F64 Angle=180;
I16 status = _misc_app_get_circle_center_point (Start_X, Start_Y , End_x, End_y, Angle,

&Center_X, &Center_Y);

42.3 _misc_set_record_debuging
 FORMAT
I16 PASCAL _misc_set_record_debuging (U16 enable)
 Purpose
Shows whether Debug log function is enabled.
 Parameters
0: Disable Debug log
1: Enable Debug log
 Example
U16 Enable = 1;
I16 status = _misc_set_record_debuging (Enable);
42.4 _misc_open_record_debuging_file
 FORMAT
I16 PASCAL _misc_open_record_debuging_file (Char* file_name, U16 open)
 Purpose
Sets Debug output log file path.
 Parameters
file_name Char* Character Array Debug document file path
0: Store in VC6 compiler development
open U16 Selection environment's debug window
1: Store log at file path specified in file_name
 Example
Char file_name[20]=“log_output.txt”;
U16 open=1;
I16 status = _misc_open_record_debuging_file(file_name, U16 open);

42.5 _DMC_01_enable_dda_mode
 FORMAT
I16 PASCAL _DMC_01_enable_dda_mode (U16 CardNo, U16 enable)
 Purpose
Enables DDA Table writing function.
 Parameters
CardNo U16 Number Unit Interface card CardNo are 0~15.
0: Disable DDA Table writing function.
1: Enable DDA Table writing function.
Bit0:Node1
Bit1:Node2
Bit2:Node3
Bit3:Node4
Bit4:Node5
Bit5:Node6
Bit6:Node7
Bit7:Node8
Bit8:Node9
Bit9:Node10
Bit10:Node11
Bit11:Node12
 Example
U16 CardNo = 0;
U16 Enable = 5; // Enable Node1,3
I16 status = _DMC_01_enable_dda_mode (CardNo, Enable);

42.6 _DMC_01_set_dda_data
 FORMAT
I16 PASCAL _DMC_01_set_dda_data (U16 CardNo, U32* abs_pos)
 Purpose
Enters DDA Table data.
 Parameters
Abs_Pos U32* Numerical data This field is a an array for data from 12 axes
 Example
U16 CardNo = 0;
U32 Abs_Pos[0][11] = {1000,2000,0,0,0,0,0,0,0,0,0,0};
//Abs_Pos is a 12-axis data array. Maximum Buffer is 1000 entries. One DDA Table entry is
executed each ms. Please note that other commands will not be accepted before the Buffer
finishes executing (e.g. Sd_Stop).
I16 status = _DMC_01_set_dda_data (CardNo, Abs_Pos);
//Other Node without DDA Table enabled can continue to execute other actions as normal.
42.7 _DMC_01_get_dda_cnt
 FORMAT
I16 PASCAL _DMC_01_get_dda_cnt (U16 CardNo, U16* dda_cnt)
 Purpose
Retrieves number of remaining entries in DDA Table.
 Parameters
Current number of remaining entries in DDA
dda_cnt U16* Numerical data
Table
 Example
U16 CardNo = 0;
U16 dda_cnt;
I16 status = _DMC_01_get_dda_cnt (CardNo, & dda_cnt);;


DMC Functions

Uploaded by

Copyright:

Available Formats

DMC Functions

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

DMC Functions

Uploaded by

Copyright:

Available Formats

DELTA ELECTRONICS CO., LTD.

About this Manual

Technical Support and Service

NORTH/SOUTH AMERICA EUROPE

Revised March, 2012 i

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

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

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

ii Revised March, 2012

Revised March, 2012 iii

3.18 Change Velocity ------------------------------------------------------------------------------------3-63

iv Revised March, 2012

3.30 Axis Group ----------------------------------------------------------------------------------------- 3-116

Chapter 4 Control API-------------------------------------------------------------------------------------------- 4-1

Chapter 5 Hardware Initialization API ---------------------------------------------------------------------- 5-1

Chapter 6 Interface API ------------------------------------------------------------------------------------------ 6-1

Chapter 7 Servo Drive Parameter Read/Write API ------------------------------------------------------ 7-1

Chapter 8 Using SDO Protocol API -------------------------------------------------------------------------- 8-1

Chapter 10 Homing Motion Control Packet Protocol API -------------------------------------------10-1

Chapter 11 Velocity Motion Control Packet Protocol API -------------------------------------------11-1

vi Revised March, 2012

Chapter 13 Using PDO Protocol API -----------------------------------------------------------------------13-1

Chapter 14 Stop Motion Control API -----------------------------------------------------------------------14-1

Chapter 15 Motion Status API --------------------------------------------------------------------------------15-1

Chapter 16 Motion Counter Value API ---------------------------------------------------------------------16-1

Chapter 17 Software Limit API -------------------------------------------------------------------------------17-1

Revised March, 2012 vii

Chapter 19 2-Axis Linear Interpolation Motion Control API ----------------------------------------19-1

Chapter 20 2-Axis Arc Interpolation Motion Control API --------------------------------------------20-1

Chapter 21 3-Axis Linear Interpolation Motion Control API ----------------------------------------21-1

Chapter 22 3-Axis Spiral Interpolation Motion Control API ----------------------------------------22-1

Chapter 23 Velocity Motion Control API ------------------------------------------------------------------23-1

Chapter 24 Synchronization Motion Control API ------------------------------------------------------24-1

Chapter 25 Remote Module Control API ------------------------------------------------------------------25-1

Revised March, 2012 ix

Chapter 26 MPG and JOG Operation API-----------------------------------------------------------------26-1

Chapter 27 4-Channel Pulse Interface API ---------------------------------------------------------------27-1

Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API ----------------------------28-1

Chapter 29 4-Channel Analog Output Remote Module API ----------------------------------------29-1

Chapter 30 4-Channel Analog Input Remote Module API -------------------------------------------30-1

Chapter 31 Slave Data API ------------------------------------------------------------------------------------31-1

Chapter 32 Parameter Monitoring API ---------------------------------------------------------------------32-1

Chapter 33 Alarm Message API ------------------------------------------------------------------------------33-1

Chapter 34 Multi-Axis Motion Control API ---------------------------------------------------------------34-1

Chapter 35 Buffer Operation API ----------------------------------------------------------------------------35-1

Chapter 36 Interrupt API ---------------------------------------------------------------------------------------36-1

Chapter 37 Security API ----------------------------------------------------------------------------------------37-1

Chapter 39 Compare API---------------------------------------------------------------------------------------39-1

Chapter 40 Linear and Arc Interpolation Motion Control API --------------------------------------40-1

Chapter 41 Speed Continue API -----------------------------------------------------------------------------41-1

Revised March, 2012 xiii

Chapter 42 Other API--------------------------------------------------------------------------------------------42-1

xiv Revised March, 2012

Chapter 1 Introduction to the

1.1 Using the Function Libraries

PCI_DMC_01.lib Visual Studio C function

BCBPCI_DMC_01.lib Borland C function

1.2 Edit New Project

1.2.2 Using Borland C