Delta Electronics PCI-DMC-A01 Programming Manuel du propriétaire

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

User Information

Please keep this manual in a safe place.

This manual is subject to change without notice due to the release of new products,

improvements and changes in technologies, and/or modifications to data and forms.

This manual may not be copied or reproduced in whole or in part without the express written

consent of Delta Electronics.

Trademarks

Windows NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are all registered trademarks of

Microsoft Corporation.

BCB (Borland C++ Builder) is a registered trademark of Borland Corporation.

The names of other products are only used for identification purposes and the registered

trademarks remain the property of their respective owners.

Technical Support and Service

If you require technical support, service, or other information, or should you have any questions

about the use of this product, please visit our website

(http://www.delta.com.tw/industrialautomation) or contact us directly. We look forward to providing

you the best possible support and service. Our contact details are provided below.

ASIA

DELTA ELECTRONICS, INC.

Taoyuan Plant 1

31-1, XINGBANG ROAD,

GUISHAN INDUSTRIAL ZONE,

TAOYUAN COUNTY 33370, TAIWAN, R.O.C.

TEL: 886-3-362-6301

FAX: 886-3-362-7267

NORTH/SOUTH AMERICA

DELTA PRODUCTS CORPORATION (USA)

Raleigh Office

P.O. BOX 12173

5101 DAVIS DRIVE,

RESEARCH TRIANGLE PARK, NC 27709, U.S.A.

TEL: 1-919-767-3813

FAX: 1-919-767-3969

JAPAN

DELTA ELECTRONICS (JAPAN), INC.

Tokyo Office

DELTA SHIBADAIMON BUILDING

2-1-14 SHIBADAIMON, MINATO-KU,

TOKYO, 105-0012, JAPAN

TEL: 81-3-5733-1111

FAX: 81-3-5733-1211

EUROPE

DELTRONICS (THE NETHERLANDS) B.V.

Eindhoven Office

DE WITBOGT 15, 5652 AG EINDHOVEN,

THE NETHERLANDS

TEL: 31-40-259-2850

FAX: 31-40-259-2851

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

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

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

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

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

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

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

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