Delta-electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC Manual de usuario Pagina 64
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Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01
3-42 Revised March, 2012
3.12 Continuous Interpolation Motion Control
3.12.1 Overview
A series of motion commands can be used to describe a square path with rounded
corners.
PCI-DMC-A01 supports using the 20-unit software FIFO in Motion ASIC for motion
control during continuous interpolation. Please refer to the following diagram:
Figure 3.59
3.12.2 Function List
Table 3.12
Function Name
_DMC_01_start_ta_move_xy
_DMC_01_start_ta_arc_xy
System
Program
Command
Read
FIFO
No 19
FIFO
No 18
FIFO
No 1
Execute FIFO
No 0
Motor
Displacement
Get buffer
length
- 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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