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Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 4-3
_DMC_01_send_message3 Send SDO command message to data buffer and
exit data buffer once command is set
_DMC_01_read_message Read last SDO command message into data buffer
_DMC_01_read_message2 Read the last SDO command message into data
buffer and return number of reads
_DMC_01_get_message Get SDO command message and place in data
buffer
_DMC_01_reset_sdo_choke When SDO command is blocked, reset SDO
_DMC_01_get_sdo_retry_history Get number of SDO resends
Point to Point Motion Control Packet Protocol API
_DMC_01_set_sdo_driver_speed_profile Set speed parameter for packet protocol
_DMC_01_start_sdo_driver_r_move Start relative motion displacement
_DMC_01_start_sdo_driver_a_move Start absolute motion displacement
_DMC_01_start_sdo_driver_new_position
_move
Perform motion displacement with new position
value
Homing Motion Control Packet Protocol API
_DMC_01_set_home_config Set home configuration
_DMC_01_set_home_move Start home motion
_DMC_01_escape_home_move Stop homing motion
Velocity Motion Control Packet Protocol API
_DMC_01_set_velocity_mode Set velocity motion control parameter profile
_DMC_01_set_velocity Start velocity motion control
_DMC_01_set_velocity_stop Stop velocity motion control
_DMC_01_set_velocity_torque_limit Set torque limit for velocity mode
Torque Motion Control Packet Protocol API
_DMC_01_set_torque_mode Torque motion control parameter profile
_DMC_01_set_torque Start torque motion
_DMC_01_set_torque_stop Stop torque motion
_DMC_01_set_torque_velocity_limit Set velocity limit in torque mode
Use PDO Protocol API
_DMC_01_ipo_set_svon Set Servo ON/OFF under PDO protocol mode
_DMC_01_get_buffer_length Get motion command to be executed
_DMC_01_command_buf_clear Reset dwell time (buffer dwell counter value)
_DMC_01_buf_dwell Interval between two motion commands
_DMC_01_set_group Set group
Stop Motion Control API
_DMC_01_emg_stop All motion commands in buffer will execute
immediate stop