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Chapter 27 4-Channel Pulse Interface API | PCI-DMC-A01 / PCI-DMC-B01
27-6 Revised March, 2012
27.5 _DMC_01_set_rm_04pi_homing_ratio
FORMAT
I16 PASCAL _DMC_01_set_rm_04pi_homing_ratio (U16 CardNo, U16 NodeID, U16 SlotID,
U16 ratio)
Purpose
Sets the rated torque multiplier for Homing mode.
※When using RM04PI to carry out Homing motion this executes
“_DMC_01_set_home_config” function. The velocity parameter of the function has type of
unsigned short (16 bit), so Maximum velocity can only be set up to 65535; to use a velocity
higher than 65535, the “_DMC_01_set_rm_04pi_homing_ratio” function must be used.
Parameters
Name Data Type Unit Description
CardNo U16 Number Unit CardNo is between 0~15
NodeID U16 Number Unit Node ID
SlotID U16 Number Unit Slot ID
ratio U16 Number Unit Home velocity gain ratio
Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
U16 ratio=100; // Execute “_DMC_01_set_home_config” function to carry out Homing motion.
// Function parameter lowSpeed has a value of 200 and highSpeed has a value
of 2000. The ratio here is 100.
// The actual velocity of RM04PI during Homing motion is then:
// lowSpeed * ratio = 200 * 100 = 2000
// highSpeed * ratio = 2000 * 100 = 200000
I16 status = _DMC_01_set_rm_04pi_homing_ratio( CardNo, NodeID, SlotID, ratio);