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Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01
3-56 Revised March, 2012
3) In the following example, adding the dwell command between continuous motion
commands will ensure the execution of continuous motion:
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_buf_dwell(CardNo, NodeID, SlotID, dwell_cnt);
//Set the dwell buffer interval. If dwell_cnt is 0 the delay is 4ms; In this example, the
value is 3
so delay is 2*3+2=8ms
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
4) Set Servo Motor Power ON/OFF(servo on/servo off)
Figure 3.82
Click on the “SVON” button to execute the following procedure:
rt = _DMC_01_ipo_set_svon(gDMCCardNo, NodeID, SlotID , ON_OFF);
// ON_OFF: 0 – Servo Power OFF; 1 – Servo Power ON
5) Start motion control (Using point to point motion control as an example)
Click on the “Move” button to execute the following procedure:
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
6) 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”.
7) 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.