Delta Electronics PCI-DMC-A01 Programming Owner's manual

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
Revised March, 2012 i
About this Manual
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PCI-DMC-A01 / PCI-DMC-B01 Programming Manual
ii Revised March, 2012
Table of Contents
Chapter 1 Introduction to the API Function Library --------------------------------------------------- 1-1
1.1 Using the Function Libraries---------------------------------------------------------------------- 1-1
1.2 Edit New Project------------------------------------------------------------------------------------- 1-1
1.2.1 Using VC ----------------------------------------------------------------------------------- 1-1
1.2.2 Using Borland C -------------------------------------------------------------------------- 1-1
1.2.3 Using VB------------------------------------------------------------------------------------ 1-2
1.2.4 Using Delphi ------------------------------------------------------------------------------- 1-2
1.2.5 Using VB.Net ------------------------------------------------------------------------------ 1-2
1.2.6 Using C#------------------------------------------------------------------------------------ 1-2
Chapter 2 Command Return Values and Messages --------------------------------------------------- 2-1
2.1 Error Codes------------------------------------------------------------------------------------------- 2-1
2.2 Error Code Example-------------------------------------------------------------------------------- 2-4
Chapter 3 Operating Principles------------------------------------------------------------------------------- 3-1
3.1 Card Initialization------------------------------------------------------------------------------------ 3-1
3.1.1 Function List ------------------------------------------------------------------------------- 3-1
3.1.2 Sample Application----------------------------------------------------------------------- 3-1
3.2 Read/Write Driver Parameters------------------------------------------------------------------- 3-4
3.2.1 Function List ------------------------------------------------------------------------------- 3-4
3.2.2 Sample Application----------------------------------------------------------------------- 3-4
3.3 CANopen Protocol ---------------------------------------------------------------------------------- 3-7
3.3.1 Function List ------------------------------------------------------------------------------- 3-7
3.3.2 Sample Application----------------------------------------------------------------------- 3-7
3.4 Homing Motion Control ---------------------------------------------------------------------------- 3-9
3.4.1 Overview------------------------------------------------------------------------------------ 3-9
3.4.2 Function List ------------------------------------------------------------------------------3-10
3.4.3 Sample Application----------------------------------------------------------------------3-10
3.5 Torque Motion Control ----------------------------------------------------------------------------3-13
3.5.1 Function List ------------------------------------------------------------------------------3-13
3.5.2 Sample Application----------------------------------------------------------------------3-13
3.6 Velocity Motion Control (1)-----------------------------------------------------------------------3-16
3.6.1 Function List ------------------------------------------------------------------------------3-16
3.6.2 Sample Application----------------------------------------------------------------------3-16

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Revised March, 2012 iii
3.7 Velocity Motion Control (2)-----------------------------------------------------------------------3-19
3.7.1 Function List ------------------------------------------------------------------------------3-19
3.7.2 Sample Application----------------------------------------------------------------------3-19
3.8 Point to Point Motion Control--------------------------------------------------------------------3-21
3.8.1 Overview-----------------------------------------------------------------------------------3-21
3.8.2 Function List ------------------------------------------------------------------------------3-21
3.8.3 Sample Application----------------------------------------------------------------------3-22
3.9 Linear Interpolation Motion Control ------------------------------------------------------------3-26
3.9.1 Overview-----------------------------------------------------------------------------------3-26
3.9.2 Function List ------------------------------------------------------------------------------3-26
3.9.3 Sample Application----------------------------------------------------------------------3-27
3.10 Arc Interpolation Motion Control----------------------------------------------------------------3-31
3.10.1 Overview-----------------------------------------------------------------------------------3-31
3.10.2 Function List ------------------------------------------------------------------------------3-31
3.10.3 Sample Application----------------------------------------------------------------------3-32
3.11 Spiral Interpolation Motion Control -Helix ----------------------------------------------------3-37
3.11.1 Function List ------------------------------------------------------------------------------3-37
3.11.2 Sample Application----------------------------------------------------------------------3-37
3.12 Continuous Interpolation Motion Control -----------------------------------------------------3-42
3.12.1 Overview-----------------------------------------------------------------------------------3-42
3.12.2 Function List ------------------------------------------------------------------------------3-42
3.12.3 Sample Application----------------------------------------------------------------------3-43
3.13 Software Limit Control ----------------------------------------------------------------------------3-47
3.13.1 Function List ------------------------------------------------------------------------------3-47
3.13.2 Sample Application----------------------------------------------------------------------3-47
3.14 Synchronization Motion Control ----------------------------------------------------------------3-51
3.14.1 Function List ------------------------------------------------------------------------------3-51
3.14.2 Sample Application----------------------------------------------------------------------3-51
3.15 Dwell Command------------------------------------------------------------------------------------3-55
3.15.1 Function List ------------------------------------------------------------------------------3-55
3.15.2 Sample Application----------------------------------------------------------------------3-55
3.16 Change Position------------------------------------------------------------------------------------3-57
3.16.1 Function List ------------------------------------------------------------------------------3-57
3.16.2 Sample Application----------------------------------------------------------------------3-57
3.17 Change Position------------------------------------------------------------------------------------3-60
3.17.1 Function List ------------------------------------------------------------------------------3-60
3.17.2 Sample Application----------------------------------------------------------------------3-60

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iv Revised March, 2012
3.18 Change Velocity ------------------------------------------------------------------------------------3-63
3.18.1 Function List ------------------------------------------------------------------------------3-63
3.18.2 Sample Application----------------------------------------------------------------------3-63
3.19 Remote I/O Module-I/O Port---------------------------------------------------------------------3-67
3.19.1 Function List ------------------------------------------------------------------------------3-67
3.19.2 Sample Application----------------------------------------------------------------------3-67
3.20 Remote I/O Module- Manual Pulse Generator (1) -----------------------------------------3-70
3.20.1 Function List ------------------------------------------------------------------------------3-70
3.20.2 Sample Application----------------------------------------------------------------------3-70
3.21 Remote I/O Module- Manual Pulse Generator (2) -----------------------------------------3-73
3.21.1 Function List ------------------------------------------------------------------------------3-73
3.21.2 Sample Application----------------------------------------------------------------------3-73
3.22 Remote Pulse Interface Module -Mode 1 ----------------------------------------------------3-76
3.22.1 Function List ------------------------------------------------------------------------------3-76
3.22.2 Sample Application----------------------------------------------------------------------3-77
3.23 Remote Pulse Interface Module -Mode 2 ----------------------------------------------------3-83
3.23.1 Function List ------------------------------------------------------------------------------3-83
3.23.2 Sample Application----------------------------------------------------------------------3-83
3.24 Get (Calculate) Arc Information-----------------------------------------------------------------3-87
3.24.1 Function List ------------------------------------------------------------------------------3-87
3.24.2 Sample Application----------------------------------------------------------------------3-87
3.25 Control Interrupt ------------------------------------------------------------------------------------3-90
3.25.1 Function List ------------------------------------------------------------------------------3-90
3.25.2 Sample Application----------------------------------------------------------------------3-90
3.26 MasterCard Security-------------------------------------------------------------------------------3-94
3.26.1 Function List ------------------------------------------------------------------------------3-94
3.26.2 Sample Application----------------------------------------------------------------------3-95
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
3.28.2 Sample Application-------------------------------------------------------------------- 3-106
3.29 Position Compare -------------------------------------------------------------------------------- 3-111
3.29.1 Function List ---------------------------------------------------------------------------- 3-111
3.29.2 Sample Application-------------------------------------------------------------------- 3-112

PCI-DMC-A01 / PCI-DMC-B01 Programming Manual
Revised March, 2012 v
3.30 Axis Group ----------------------------------------------------------------------------------------- 3-116
3.30.1 Function List ---------------------------------------------------------------------------- 3-116
3.30.2 Sample Application-------------------------------------------------------------------- 3-116
3.31 Speed Continue ---------------------------------------------------------------------------------- 3-119
3.31.1 Function List ---------------------------------------------------------------------------- 3-119
3.31.2 Sample Application-------------------------------------------------------------------- 3-119
3.32 Spiral Interpolation - Helix Using -Sp1_ Normal Follow -------------------------------- 3-122
3.32.1 Function List ---------------------------------------------------------------------------- 3-122
3.32.2 Sample Application-------------------------------------------------------------------- 3-122
3.33 Logger ---------------------------------------------------------------------------------------------- 3-130
3.33.1 Function List ---------------------------------------------------------------------------- 3-130
3.33.2 Sample Application-------------------------------------------------------------------- 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

PCI-DMC-A01 / PCI-DMC-B01 Programming Manual
vi Revised March, 2012
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

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Revised March, 2012 vii
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

PCI-DMC-A01 / PCI-DMC-B01 Programming Manual
viii Revised March, 2012
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