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Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01
3-50 Revised March, 2012
9) 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
10) If you wish to observe the contact with positive/negative limits during point to point
motion control, you can execute the following procedure:
/* Observe feedback status from contact with positive/negative limits*/
rt = _DMC_01_get_soft_limit_status(gDMCCardNo, NodeID, SlotID, &PLimit_sts,
&NLimit_sts);
In the figure below, the left side indicates no contact with positive/negative limits
during motion; the center indicates contact with positive limit during motion; the right
side indicates contact with negative limit during motion.
Figure 3.73
11) Stop motion
Hit the “STOP” button to execute an emergency stop:
rt = _DMC_01_emg_stop (gDMCCardNo, NodeID, SlotID);
In this example, emergency stop is used to stop motion. This method quickly stops
motion by setting deceleration time to 0. For more information about the Stop Motion
function, refer to the later section on “Stop Motion Control API”.
12) Exit procedure
Click on the “Exit” button to quit and exit the procedure.
“_DMC_01_reset_card” and “_DMC_01_close” must be executed to exit this
function. Please refer to Section 3.12 “Exit procedure” for the function operations.