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Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 3-65
5) Set distance and velocity for 2nd motion
Figure 3.95
2 nd dist item: Value of distance for 2nd motion. API function's argument variable
“Dist2”.
2 nd vel item: Value of velocity for 2nd motion. API function's argument variable
“MaxVel2”.
6) Set Servo Motor Power ON/OFF(servo on/servo off)
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
7) 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
8) If you wish to change the current motion velocity to a new velocity, please click on
the “2 nd seg.” button to execute the following procedure:
rt = _DMC_01_start_sa_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
MaxVel, MaxVel2, Tacc, Tsec, Tdec);
// 2nd motion displacement using absolute coordinates with S-curve velocity
cross-section
rt = _DMC_01_start_ta_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
MaxVel, MaxVel2, Tacc, Tsec, Tdec);
// 2nd motion displacement using absolute coordinates with T-curve velocity
cross-section
rt = _DMC_01_start_sr_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
MaxVel, MaxVel2, Tacc, Tsec, Tdec);
// 2nd motion displacement using relative coordinates with S-curve velocity
cross-section
rt = _DMC_01_start_tr_move_2seg (CardNo, NodeID, SlotID, Dist, Dist2, StrVel,
MaxVel, MaxVel2, Tacc, Tsec, Tdec);
// 2nd motion displacement using relative coordinates with T-curve velocity
cross-section