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Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 3-93
8) Start motion control (Using point to point motion control as an example)
Click on the “” or “” button to execute the following procedure:
rt = _DMC_01_start_sa_move(gDMCCardNo, NodeID, SlotID, Distance, StrVel,
MaxVel, acc, dec); // Motion displacement using absolute coordinates with S-curve
velocity cross-section
rt = _DMC_01_start_ta_move(gDMCCardNo, NodeID, SlotID, Distance, StrVel,
MaxVel, acc, dec); // Motion displacement using absolute coordinates with T-curve
velocity cross-section
rt = _DMC_01_start_sr_move(gDMCCardNo, NodeID, SlotID, Distance, StrVel,
MaxVel, acc, dec); // Motion displacement using relative coordinates with S-curve
velocity cross-section
rt = _DMC_01_start_tr_move(gDMCCardNo, NodeID, SlotID, Distance, StrVel,
MaxVel, acc, dec); // Motion displacement using relative coordinates with T-curve
velocity cross-section
9) Set Interrupt function to Normal Stop Interrupt:
After moving a set distance or pressing the Stop button halfway, using the following
API to read
Int_Count will increase the value by 1. This is shown above in Figure 3.128 Normal
Stop Counter.
rt = _DMC_01_get_int_counter(gDMCCardNo, NodeID, &Int_Count);
10) Stop motion
Click on the “STOP” button to execute slow down stop for current point to point
motion.
rt = _DMC_01_sd_stop(gDMCCardNo, NodeID, SlotID, dec);
In this example, deceleration is used to stop displacement motion. Here the velocity
is gradually reduced to 0 over the set deceleration time. For a detailed description of
Stop motion, please refer to “Chapter 14 Stop Motion API”.
11) Exit procedure
Click on the “Exit” button to quit and exit the procedure.
Exit function requires “_DMC_01_reset_card” and _DMC_01_close” to be used. For
a detailed description of these two API please refer to section 3.1.2 4) Exit
procedure.