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Chapter 26 MPG and JOG Operation API | PCI-DMC-A01 / PCI-DMC-B01
26-6 Revised March, 2012
26.3 _DMC_01_set_rm_jog_axes_enable
FORMAT
I16 PASCAL _DMC_01_set_rm_jog_axes_enable (U16 CardNo, U16 MasterNodeID,
U16 MasterSlotID, U16* NodeID, U16* SlotID, U16 enable, U16 jog_mode, I32 *jog_speed,
F64 *sec)
Purpose
Sets JOG motion control.
Parameters
Name Data Type Unit Description
CardNo U16 Number Unit CardNo is between 0~15
MasterNodeID U16 Number Unit RM-MN64 Node ID used
MasterSlotID U16 Number Unit RM-MN64 Slot ID used
NodeID U16* Number Unit Node ID in use (Up to 4 axes)
SlotID U16* Number Unit Servo Slot ID in use (Up to 4 axes)
enable U16 Selection
0: Disable JOG port
1: Enable JOG
jog_mode U16 Selection
JOG axis selection method
0: RM mode
1: MPG mode
jog_speed I32*
Pulses per
second
JOG speed
sec F64
Pulses per
second
JOG acceleration time
Example
I16 rt;
U16 CardNo = 0, MasterNodeID = 1, MasterSlotID = 0; RM-64 Node ID is 1
U16 NodeID[4] = {2, 3, 4, 0}, SlotID[4] = {0}; //Using three ASD-A2F servo motors assigned to
Node 2, 3 and 4.
U16 enable = 1;
U16 jog_mode = 0; //Use RM module IO to select X, Y and Z axes
I32 jog_speed[4] = {128000, 128000, 128000, 0}; //Set JOG speed as 128000 pps. (= 0.1 rps)
F64 sec = 0.1;
rt = _DMC_01_set_rm_jog_axes_enable (CardNo, MasterNodeID, MasterSlotID, NodeID,
SlotID, enable, jog_mode, jog_speed, sec);
//Motor Node 2 is X axis. Node 3 is Y axis, Node 4 is Z axis. Three axes in total.