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Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC manuali

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Delta electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC Manuale Utente (528 pagine)


Marchio: Delta-electronics | Categoria: Hardware | Dimensione: 2.19 MB |

 

Indice

PCI-DMC-A01

1

PCI-DMC-B01

1

Revised March, 2012 i

3

Table of Contents

4

Revised March, 2012 iii

5

Revised March, 2012 v

7

Revised March, 2012 vii

9

Revised March, 2012 ix

11

Revised March, 2012 xi

13

Revised March, 2012 xiii

15

API Function Library

17

1.2.3 Using VB

18

1.2.4 Using Delphi

18

1.2.5 Using VB.Net

18

1.2.6 Using C#

18

2.1 Error Codes

19

2-2 Revised March, 2012

20

Revised March, 2012 2-3

21

 Example

22

3.1.1 Function List

23

3.1.2 Sample Application

23

3-2 Revised March, 2012

24

Revised March, 2012 3-3

25

3.2.1 Function List

26

3.2.2 Sample Application

26

Revised March, 2012 3-5

27

3-6 Revised March, 2012

28

3.3.1 Function List

29

3.3.2 Sample Application

29

3-8 Revised March, 2012

30

3.4.1 Overview

31

3.4.2 Function List

32

3.4.3 Sample Application

32

Revised March, 2012 3-11

33

3-12 Revised March, 2012

34

3.5.1 Function List

35

3.5.2 Sample Application

35

3-14 Revised March, 2012

36

7) Exit procedure

37

3.6.1 Function List

38

3.6.2 Sample Application

38

Revised March, 2012 3-17

39

3-18 Revised March, 2012

40

3.7.1 Function List

41

3.7.2 Sample Application

41

3-20 Revised March, 2012

42

3.8.1 Overview

43

3.8.2 Function List

43

3.8.3 Sample Application

44

Revised March, 2012 3-23

45

3-24 Revised March, 2012

46

Revised March, 2012 3-25

47

3.9.1 Overview

48

3.9.2 Function List

48

3.9.3 Sample Application

49

3-28 Revised March, 2012

50

Revised March, 2012 3-29

51

3-30 Revised March, 2012

52

3.10.1 Overview

53

3.10.2 Function List

53

3.10.3 Sample Application

54

Revised March, 2012 3-33

55

3-34 Revised March, 2012

56

Revised March, 2012 3-35

57

3-36 Revised March, 2012

58

3.11.1 Function List

59

3.11.2 Sample Application

59

3-38 Revised March, 2012

60

Revised March, 2012 3-39

61

3-40 Revised March, 2012

62

Revised March, 2012 3-41

63

3.12.1 Overview

64

3.12.2 Function List

64

3.12.3 Sample Application

65

3-44 Revised March, 2012

66

Revised March, 2012 3-45

67

3-46 Revised March, 2012

68

3.13.1 Function List

69

3.13.2 Sample Application

69

3-48 Revised March, 2012

70

Revised March, 2012 3-49

71

3-50 Revised March, 2012

72

3.14.1 Function List

73

3.14.2 Sample Application

73

3-52 Revised March, 2012

74

Revised March, 2012 3-53

75

3-54 Revised March, 2012

76

3.15.1 Function List

77

3.15.2 Sample Application

77

3-56 Revised March, 2012

78

3.16.1 Function List

79

3.16.2 Sample Application

79

3-58 Revised March, 2012

80

Revised March, 2012 3-59

81

3.17.1 Function List

82

3.17.2 Sample Application

82

Revised March, 2012 3-61

83

3-62 Revised March, 2012

84

3.18.1 Function List

85

3.18.2 Sample Application

85

3-64 Revised March, 2012

86

Revised March, 2012 3-65

87

3-66 Revised March, 2012

88

3.19.1 Function List

89

3.19.2 Sample Application

89

3-68 Revised March, 2012

90

Revised March, 2012 3-69

91

3.20.1 Function List

92

3.20.2 Sample Application

92

Revised March, 2012 3-71

93

3-72 Revised March, 2012

94

3.21.1 Function List

95

3.21.2 Sample Application

95

3-74 Revised March, 2012

96

Revised March, 2012 3-75

97

3.22.1 Function List

98

3.22.2 Sample Application

99

3-78 Revised March, 2012

100

Revised March, 2012 3-79

101

3-80 Revised March, 2012

102

Revised March, 2012 3-81

103

3-82 Revised March, 2012

104

3.23.1 Function List

105

3.23.2 Sample Application

105

3-84 Revised March, 2012

106

Revised March, 2012 3-85

107

3-86 Revised March, 2012

108

3.24.1 Function List

109

3.24.2 Sample Application

109

3-88 Revised March, 2012

110

Revised March, 2012 3-89

111

3.25.1 Function List

112

3.25.2 Sample Application

112

Revised March, 2012 3-91

113

3-92 Revised March, 2012

114

Revised March, 2012 3-93

115

3.26.1 Function List

116

3.26.2 Sample Application

117

3-96 Revised March, 2012

118

Revised March, 2012 3-97

119

3-98 Revised March, 2012

120

Revised March, 2012 3-99

121

3.27.1 Function List

122

3.27.2 Sample Application

123

3-102 Revised March, 2012

124

Revised March, 2012 3-103

125

3-104 Revised March, 2012

126

Revised March, 2012 3-105

127

3.28.1 Function List

128

3.28.2 Sample Application

128

Revised March, 2012 3-107

129

3-108 Revised March, 2012

130

Revised March, 2012 3-109

131

3-110 Revised March, 2012

132

3.29.1 Function List

133

3.29.2 Sample Application

134

Revised March, 2012 3-113

135

3-114 Revised March, 2012

136

Revised March, 2012 3-115

137

3.30.1 Function List

138

3.30.2 Sample Application

138

Revised March, 2012 3-117

139

4) Exit procedure

140

3.31.1 Function List

141

3.31.2 Sample Application

141

3-120 Revised March, 2012

142

Revised March, 2012 3-121

143

3.32.1 Function List

144

3.32.2 Sample Application

144

Revised March, 2012 3-123

145

3-124 Revised March, 2012

146

Revised March, 2012 3-125

147

3-126 Revised March, 2012

148

Revised March, 2012 3-127

149

3-128 Revised March, 2012

150

Revised March, 2012 3-129

151

3.33.1 Function List

152

3.33.2 Sample Application

152

Revised March, 2012 3-131

153

3-132 Revised March, 2012

154

Chapter 4 Control API

155

4.2 Function Description

156

Revised March, 2012 4-3

157

4-4 Revised March, 2012

158

Revised March, 2012 4-5

159

4-6 Revised March, 2012

160

Revised March, 2012 4-7

161

4-8 Revised March, 2012

162

Revised March, 2012 4-9

163

4-10 Revised March, 2012

164

Revised March, 2012 4-11

165

4-12 Revised March, 2012

166

Revised March, 2012 4-13

167

4-14 Revised March, 2012

168

Revised March, 2012 5-1

169

5.1 _DMC_01_open

170

5.2 _DMC_01_close

170

5.3 _DMC_01_get_CardNo_seq

171

5.4 _DMC_01_pci_initial

172

5.5 _DMC_01_get_card_version

172

Chapter 6 Interface API

173

6.1 _DMC_01_initial_bus

174

6.2 _DMC_01_start_ring

174

6.3 _DMC_01_get_device_table

175

6.4 _DMC_01_get_node_table

175

6.6 _DMC_01_reset_card

176

6.7 _DMC_01_check_nodeno

177

6-6 Revised March, 2012

178

6.10 _DMC_01_get_mailbox_cnt

179

6.11 _DMC_01_get_dsp_cnt

179

6.12 _DMC_01_set_dio_output

180

6.13 _DMC_01_get_dio_output

180

6.14 _DMC_01_get_dio_input

181

6.15 _DMC_01_get_cycle_time

181

6.16 _DMC_01_initial_bus2

182

6.17 _DMC_01_motion_cnt

182

Read/Write API

183

7-2 Revised March, 2012

184

Revised March, 2012 7-3

185

7-4 Revised March, 2012

186

Revised March, 2012 8-1

187

8.1 CANopen SDO protocol

188

Revised March, 2012 8-3

189

8-4 Revised March, 2012

190

Revised March, 2012 8-5

191

8-6 Revised March, 2012

192

8.3 _DMC_01_get_canopen_ret

193

8.4 _DMC_01_set_pdo_mode

194

8.5 _DMC_01_send_message

195

8.6 _DMC_01_send_message3

196

8.7 _DMC_01_read_message

197

8.8 _DMC_01_read_message2

198

8.9 _DMC_01_get_message

199

8.10 _DMC_01_reset_sdo_choke

200

Control Packet Protocol API

201

9-2 Revised March, 2012

202

Revised March, 2012 9-3

203

9-4 Revised March, 2012

204

Revised March, 2012 9-5

205

9-6 Revised March, 2012

206

Packet Protocol API

207

10.1 _DMC_01_set_home_config

208

Revised March, 2012 10-3

209

10-4 Revised March, 2012

210

Revised March, 2012 10-5

211

10-6 Revised March, 2012

212

10.2 _DMC_01_set_home_move

213

10-8 Revised March, 2012

214

11-2 Revised March, 2012

216

11.2 _DMC_01_set_velocity

217

11-4 Revised March, 2012

218

Revised March, 2012 11-5

219

11-6 Revised March, 2012

220

12.1 _DMC_01_set_torque_mode

222

12.2 _DMC_01_set_torque

223

12.3 _DMC_01_set_torque_stop

224

Revised March, 2012 12-5

225

12-6 Revised March, 2012

226

Revised March, 2012 13-1

227

13.1 _DMC_01_ipo_set_svon

228

Revised March, 2012 13-3

229

13-4 Revised March, 2012

230

13.4 _DMC_01_buf_dwell

231

13.5 _DMC_01_set_group

232

Revised March, 2012 14-1

233

14.1 _DMC_01_emg_stop

234

14.2 _DMC_01_sd_stop

235

14.3 _DMC_01_sd_abort

236

14.4 _DMC_01_set_sd_mode

237

14-6 Revised March, 2012

238

Revised March, 2012 15-1

239

15.1 _DMC_01_motion_done

240

15.2 _DMC_01_motion_status

241

15-4 Revised March, 2012

242

Revised March, 2012 16-1

243

16.1 _DMC_01_get_command

244

16.2 _DMC_01_set_command

244

16.3 _DMC_01_get_position

245

16.4 _DMC_01_set_position

245

16.5 _DMC_01_get_target_pos

246

16.6 _DMC_01_get_torque

247

16-6 Revised March, 2012

248

Revised March, 2012 16-7

249

16-8 Revised March, 2012

250

Revised March, 2012 17-1

251

17.1 _DMC_01_set_soft_limit

252

Revised March, 2012 17-3

253

17-4 Revised March, 2012

254

Revised March, 2012 18-1

255

18.1 _DMC_01_start_tr_move

256

18.2 _DMC_01_start_sr_move

257

18.3 _DMC_01_start_ta_move

258

18.4 _DMC_01_start_sa_move

259

18.5 _DMC_01_p_change

260

18.6 _DMC_01_v_change

261

18-8 Revised March, 2012

262

Revised March, 2012 18-9

263

18-10 Revised March, 2012

264

Revised March, 2012 18-11

265

18-12 Revised March, 2012

266

Revised March, 2012 18-13

267

18-14 Revised March, 2012

268

Revised March, 2012 18-15

269

18-16 Revised March, 2012

270

Revised March, 2012 18-17

271

18-18 Revised March, 2012

272

Revised March, 2012 18-19

273

18-20 Revised March, 2012

274

18.16 _DMC_01_start_v3_move

275

18-22 Revised March, 2012

276

Chapter 19 2-Axis Linear

277

19-2 Revised March, 2012

278

Revised March, 2012 19-3

279

19-4 Revised March, 2012

280

Revised March, 2012 19-5

281

19-6 Revised March, 2012

282

Revised March, 2012 19-7

283

19-8 Revised March, 2012

284

Revised March, 2012 19-9

285

19-10 Revised March, 2012

286

Revised March, 2012 19-11

287

19-12 Revised March, 2012

288

Motion Control API

289

20-2 Revised March, 2012

290

20.1 _DMC_01_start_tr_arc_xy

291

20-4 Revised March, 2012

292

20.2 _DMC_01_start_sr_arc_xy

293

20-6 Revised March, 2012

294

20.3 _DMC_01_start_ta_arc_xy

295

20-8 Revised March, 2012

296

20.4 _DMC_01_start_sa_arc_xy

297

20-10 Revised March, 2012

298

Revised March, 2012 20-11

299

20-12 Revised March, 2012

300

Revised March, 2012 20-13

301

20-14 Revised March, 2012

302

Revised March, 2012 20-15

303

20-16 Revised March, 2012

304

Revised March, 2012 20-17

305

20-18 Revised March, 2012

306

Revised March, 2012 20-19

307

20-20 Revised March, 2012

308

Revised March, 2012 20-21

309

20-22 Revised March, 2012

310

Revised March, 2012 20-23

311

20-24 Revised March, 2012

312

Revised March, 2012 20-25

313

20-26 Revised March, 2012

314

Revised March, 2012 20-27

315

20-28 Revised March, 2012

316

Revised March, 2012 20-29

317

20-30 Revised March, 2012

318

Revised March, 2012 20-31

319

20-32 Revised March, 2012

320

Revised March, 2012 20-33

321

20-34 Revised March, 2012

322

Revised March, 2012 20-35

323

20-36 Revised March, 2012

324

Revised March, 2012 20-37

325

20-38 Revised March, 2012

326

Revised March, 2012 20-39

327

20-40 Revised March, 2012

328

Chapter 21 3-Axis Linear

329

21-2 Revised March, 2012

330

Revised March, 2012 21-3

331

21-4 Revised March, 2012

332

Revised March, 2012 21-5

333

21-6 Revised March, 2012

334

Revised March, 2012 21-7

335

21-8 Revised March, 2012

336

22-2 Revised March, 2012

338

Revised March, 2012 22-3

339

22-4 Revised March, 2012

340

Revised March, 2012 22-5

341

22-6 Revised March, 2012

342

Revised March, 2012 22-7

343

22-8 Revised March, 2012

344

Revised March, 2012 22-9

345

22-10 Revised March, 2012

346

Revised March, 2012 22-11

347

22-12 Revised March, 2012

348

Revised March, 2012 23-1

349

23.1 _DMC_01_tv_move

350

23.2 _DMC_01_sv_move

351

23-4 Revised March, 2012

352

Control API

353

24.1 _DMC_01_sync_move

354

Revised March, 2012 25-1

355

25-2 Revised March, 2012

356

Revised March, 2012 25-3

357

25-4 Revised March, 2012

358

Revised March, 2012 25-5

359

25-6 Revised March, 2012

360

Revised March, 2012 25-7

361

25-8 Revised March, 2012

362

Revised March, 2012 25-9

363

25-10 Revised March, 2012

364

Revised March, 2012 26-1

365

26-2 Revised March, 2012

366

Revised March, 2012 26-3

367

26-4 Revised March, 2012

368

Revised March, 2012 26-5

369

26-6 Revised March, 2012

370

Revised March, 2012 27-1

371

27-2 Revised March, 2012

372

Revised March, 2012 27-3

373

27-4 Revised March, 2012

374

27.4 _DMC_01_set_rm_04pi_DO2

375

27-6 Revised March, 2012

376

Revised March, 2012 27-7

377

27-8 Revised March, 2012

378

(Mode 1) Motion Control API

379

28-2 Revised March, 2012

380

Revised March, 2012 28-3

381

28-4 Revised March, 2012

382

Revised March, 2012 28-5

383

28-6 Revised March, 2012

384

Revised March, 2012 28-7

385

28-8 Revised March, 2012

386

Revised March, 2012 28-9

387

28-10 Revised March, 2012

388

Revised March, 2012 28-11

389

28-12 Revised March, 2012

390

Revised March, 2012 28-13

391

28-14 Revised March, 2012

392

Revised March, 2012 28-15

393

28-16 Revised March, 2012

394

Revised March, 2012 28-17

395

28-18 Revised March, 2012

396

Revised March, 2012 28-19

397

28-20 Revised March, 2012

398

Revised March, 2012 28-21

399

28-22 Revised March, 2012

400

Revised March, 2012 28-23

401

28-24 Revised March, 2012

402

Revised March, 2012 28-25

403

28-26 Revised March, 2012

404

Revised March, 2012 28-27

405

28-28 Revised March, 2012

406

Remote I/O Module API

407

29-2 Revised March, 2012

408

Revised March, 2012 29-3

409

29-4 Revised March, 2012

410

Revised March, 2012 29-5

411

29-6 Revised March, 2012

412

Revised March, 2012 29-7

413

29-8 Revised March, 2012

414

Revised March, 2012 29-9

415

29-10 Revised March, 2012

416

Revised March, 2012 29-11

417

29-12 Revised March, 2012

418

30-2 Revised March, 2012

420

Revised March, 2012 30-3

421

30-4 Revised March, 2012

422

Revised March, 2012 30-5

423

30-6 Revised March, 2012

424

Revised March, 2012 30-7

425

30-8 Revised March, 2012

426

Revised March, 2012 30-9

427

30.9 _DMC_01_get_04ad_data

428

Revised March, 2012 30-11

429

30-12 Revised March, 2012

430

Revised March, 2012 30-13

431

30-14 Revised March, 2012

432

Chapter 31 Slave Data API

433

31.1 _DMC_01_get_devicetype

434

Revised March, 2012 31-3

435

31-4 Revised March, 2012

436

Revised March, 2012 32-1

437

32.1 _DMC_01_set_monitor

438

Revised March, 2012 32-3

439

32-4 Revised March, 2012

440

32.2 _DMC_01_get_monitor

441

32-6 Revised March, 2012

442

32.4 _DMC_01_get_servo_DI

443

32.5 _DMC_01_get_servo_DO

444

Revised March, 2012 33-1

445

33.1 _DMC_01_set_ralm

446

33.2 _DMC_01_get_alm_code

447

33.3 _DMC_01_master_alm_code

448

33.4 _DMC_01_slave_error

449

33-6 Revised March, 2012

450

Revised March, 2012 34-1

451

34.1 _DMC_01_multi_axes_move

452

Revised March, 2012 34-3

453

34-4 Revised March, 2012

454

Revised March, 2012 34-5

455

34-6 Revised March, 2012

456

Table 35.1

457

Function Name Description

457

35-2 Revised March, 2012

458

Chapter 36 Interrupt API

459

36.1 _DMC_01_ set_int_factor

460

36.2 _DMC_01_ int_enable

461

36.3 _DMC_01_ int_disable

461

36.4 _DMC_01_ get_int_count

462

36.5 _DMC_01_ get_int_status

463

36.6 _DMC_01_link_ interrupt

464

Chapter 37 Security API

465

37.1 _DMC_01_ read_security

466

37.3 _DMC_01_write_security

467

37-4 Revised March, 2012

468

37.7 _DMC_01_check_verifykey

469

37.8 _DMC_01_write_verifykey

469

37.9 _DMC_01_ read_serialno

470

Revised March, 2012 37-7

471

37-8 Revised March, 2012

472

Revised March, 2012 37-9

473

37.13 _misc_security

474

Revised March, 2012 37-11

475

37-12 Revised March, 2012

476

Revised March, 2012 37-13

477

37-14 Revised March, 2012

478

Revised March, 2012 37-15

479

37-16 Revised March, 2012

480

Revised March, 2012 38-1

481

38-2 Revised March, 2012

482

Revised March, 2012 38-3

483

38-4 Revised March, 2012

484

Revised March, 2012 38-5

485

38-6 Revised March, 2012

486

Chapter 39 Compare API

487

39-2 Revised March, 2012

488

Revised March, 2012 39-3

489

39-4 Revised March, 2012

490

Revised March, 2012 39-5

491

39-6 Revised March, 2012

492

Revised March, 2012 39-7

493

39-8 Revised March, 2012

494

Revised March, 2012 39-9

495

39-10 Revised March, 2012

496

Revised March, 2012 39-11

497

39-12 Revised March, 2012

498

Revised March, 2012 39-13

499

39-14 Revised March, 2012

500

Revised March, 2012 39-15

501

39-16 Revised March, 2012

502

Revised March, 2012 39-17

503

39-18 Revised March, 2012

504

Revised March, 2012 39-19

505

39-20 Revised March, 2012

506

Chapter 40 Linear and Arc

507

40.1 _DMC_01_start_rline_xy

508

Revised March, 2012 40-3

509

40.2 _DMC_01_start_rline_xyz

510

Revised March, 2012 40-5

511

40-6 Revised March, 2012

512

Revised March, 2012 40-7

513

40-8 Revised March, 2012

514

Revised March, 2012 40-9

515

40-10 Revised March, 2012

516

Revised March, 2012 41-1

517

41.1 _DMC_01_speed_continue

518

Revised March, 2012 41-3

519

41-4 Revised March, 2012

520

Revised March, 2012 41-5

521

41-6 Revised March, 2012

522

Chapter 42 Other API

523

42-2 Revised March, 2012

524

Revised March, 2012 42-3

525

42-4 Revised March, 2012

526

42.5 _DMC_01_enable_dda_mode

527

42.6 _DMC_01_set_dda_data

528

42.7 _DMC_01_get_dda_cnt

528




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