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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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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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

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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

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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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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

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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

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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

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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

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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

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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

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

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

Chapter 1 Introduction to the API Function Library | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 1-1
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”

Chapter 1 Introduction to the API Function Library | PCI-DMC-A01 / PCI-DMC-B01
1-2 Revised March, 2012
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.

Chapter 2 Command Return Values and Messages | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 2-1
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
(Decimal)
Error Code Error Description
0 ERR_NoError API executed successfully
3 ERR_CardNoError Card number error. Please check the number set
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
8 ERR_PCI_boot_first “_DMC_01_pci_initial” AP function must be
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
15 ERR_MPG_Mode Unable to clear position in Manual Pulse
Generator (MPG) mode
16 ERR_PDO_TG Unable to return acknowledgement when sending
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

Chapter 2 Command Return Values and Messages | PCI-DMC-A01 / PCI-DMC-B01
2-2 Revised March, 2012
Error Return
Code
(Decimal)
Error Code Error Description
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
25 ERR_start_ring_first “_DMC_01_pci_initial” AP function must be
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
50 ERR_NonSupport_CardVer Master Card version error. Please contact
distributor to purchase the correct Master Card
51 ERR_Compare_Source Ver Type: B Compare Source selection error
52 ERR_Compare_Direction Compare direction error; dir must be set to 1 or 0
(1:ccw, 0:cw)
112 ERR_RangeError Axis number error
114 ERR_MotionBusy Motion command overlap
116 ERR_SpeedError Maximum velocity set to 0
117 ERR_AccTimeError Acceleration/deceleration time greater than 1000
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
132 ERR_FeedHold_support Feedhold Stop enabled. Unable to receive new
commands