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_DMC_01_send_message3
_DMC_01_read_message
_DMC_01_read_message2
_DMC_01_get_message
_DMC_01_reset_sdo_choke
_DMC_01_get_sdo_retry_history
Point to Point Motion Control Packet Protocol API
_DMC_01_set_sdo_driver_speed_profile
_DMC_01_start_sdo_driver_r_move
_DMC_01_start_sdo_driver_a_move
_DMC_01_start_sdo_driver_new_position
_move
Homing Motion Control Packet Protocol API
_DMC_01_set_home_config
_DMC_01_set_home_move
_DMC_01_escape_home_move
Velocity Motion Control Packet Protocol API
_DMC_01_set_velocity_mode
_DMC_01_set_velocity
_DMC_01_set_velocity_stop
_DMC_01_set_velocity_torque_limit
Torque Motion Control Packet Protocol API
_DMC_01_set_torque_mode
_DMC_01_set_torque
_DMC_01_set_torque_stop
_DMC_01_set_torque_velocity_limit
Use PDO Protocol API
_DMC_01_ipo_set_svon
_DMC_01_get_buffer_length
_DMC_01_command_buf_clear
_DMC_01_buf_dwell
_DMC_01_set_group
Stop Motion Control API
_DMC_01_emg_stop
Revised March, 2012
Chapter 4 Control API | PCI-DMC-A01 / PCI-DMC-B01
Send SDO command message to data buffer and
exit data buffer once command is set
Read last SDO command message into data buffer
Read the last SDO command message into data
buffer and return number of reads
Get SDO command message and place in data
buffer
When SDO command is blocked, reset SDO
Get number of SDO resends
Set speed parameter for packet protocol
Start relative motion displacement
Start absolute motion displacement
Perform motion displacement with new position
value
Set home configuration
Start home motion
Stop homing motion
Set velocity motion control parameter profile
Start velocity motion control
Stop velocity motion control
Set torque limit for velocity mode
Torque motion control parameter profile
Start torque motion
Stop torque motion
Set velocity limit in torque mode
Set Servo ON/OFF under PDO protocol mode
Get motion command to be executed
Reset dwell time (buffer dwell counter value)
Interval between two motion commands
Set group
All motion commands in buffer will execute
immediate stop
4-3
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