Delta Electronics PCI-DMC-A01 Programming Betriebsanleitung

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.

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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

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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,

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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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