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Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC-B01
4-4 Revised March, 2012
_DMC_01_sd_stop All motion commands in buffer will execute slow
down stop based on deceleration time
_DMC_01_sd_abort Current motion command will execute deceleration
time stop
_DMC_01_set_sd_mode Set Sd_stop mode
Motion Status API
_DMC_01_motion_done Return current motion stage of the Master Card
_DMC_01_motion_status Return current motion status of the Master Card
Motion Counter Value API
_DMC_01_get_command Get Command counter value
_DMC_01_set_command Set new Command counter value
_DMC_01_get_position Get current position counter value
_DMC_01_set_position Set new position counter value
_DMC_01_get_target_pos Get current position's position value
_DMC_01_get_torque Get and return the current torque counter value
_DMC_01_get_current_speed Get motion speed
_DMC_01_get_current_speed_rpm Get current RPM multiplied by 10
Software Limit API
_DMC_01_set_soft_limit Set reference values for software positive/negative
limits
_DMC_01_enable_soft_limit Enable/disable software limit and stop method after
contact with limit
_DMC_01_disable_soft_limit Disable software limit
_DMC_01_get_soft_limit_status Get status of software positive/negative limit during
motion
1-Axis Motion Control API
_DMC_01_start_tr_move Motion displacement using relative coordinates with
T-curve velocity cross-section
_DMC_01_start_sr_move Motion displacement using relative coordinates with
S-curve velocity cross-section
_DMC_01_start_ta_move Motion displacement using absolute coordinates
with T-curve velocity cross-section
_DMC_01_start_sa_move Motion displacement using absolute coordinates
with S-curve velocity cross-section
_DMC_01_p_change Replace current position with new position value
_DMC_01_v_change Replace current motion velocity with new velocity
value
_DMC_01_start_tr_move_2seg 2nd motion displacement using relative coordinates
with T-curve velocity cross-section