General Instruction for DMCNET System

General Instruction for DMCNET System
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: 886-3-362-6301 / FAX: 886-3-371-6301
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province,
People's Republic of China (Post code: 215200)
TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C.
Post code : 201209
TEL: 86-21-58635678 / FAX: 86-21-58630003
Delta Electronics (Japan), Inc.
Tokyo Office
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: 82-2-515-5303 / FAX: 82-2-515-5302
Delta Electronics Int’l (S) Pte Ltd
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: 65-6747-5155 / FAX: 65-6744-9228
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : 91-124-4874900 / FAX : 91-124-4874945
Americas
Delta Products Corporation (USA)
Raleigh Office
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: 1-919-767-3800 / FAX: 1-919-767-8080
Delta Greentech (Brasil) S.A
Sao Paulo Office
Rua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: +55 11 3568-3855 / FAX: +55 11 3568-3865
Europe
Deltronics (The Netherlands) B.V.
Eindhoven Office
De Witbogt 15, 5652 AG Eindhoven, The Netherlands
TEL: 31-40-2592850 / FAX: 31-40-2592851
*We reserve the right to change the information in this catalogue without prior notice.
DELTA_IA-ASD_DMCNET_UM_EN_20140711
Delta High-speed Motion Control System General Instruction for DMCNET system
Industrial Automation Headquarters
Delta High-speed Motion Control
System
General Instruction for DMCNET system
www.deltaww.com
About this Manual
This manual explains the structure, performance, and software function interface of Delta's
A01/B01/F01 motion control card system, and seeks to provide users with a quick and
convenient guide to applications.
References
1.
A01/B01 card manual PCI-DMC-01_UserGuide_Traditional.pdf
2.
F01 card manualPCI-DMC-F01_UserGuide_Traditional.pdf
3.
Remote module manual ASD-DMC-RM_UserGuide_Traditional.pdf
4.
Integrated expansion module manual ASD-DMC-GAGE_UserGuide_Traditional.pdf
5.
Software develop manual PCI-DMC_ProgrammingGuide_Traditional.pdf
6.
Server manual DELTA_ASDA-A2_M_TC_********.pdf
Technical Support and Service
If you require technical support, service and related information or have any questions
during the use of this product, please visit our website
(http://www.delta.com.tw/industrialautomation) or contact us. We look forward to providing
the best possible support and service for your needs. Our contact details are provided
below.
ASIA
DELTA ELECTRONICS, INC.
Taoyuan Plant 1
31-1, XINGBANG ROAD,
GUISHAN INDUSTRIAL ZONE,
TAOYUAN COUNTY 33370, TAIWAN, R.O.C.
TEL: 886-3-362-6301
FAX: 886-3-362-7267
JAPAN
DELTA ELECTRONICS (JAPAN), INC.
Tokyo Office
DELTA SHIBADAIMON BUILDING
2-1-14 SHIBADAIMON, MINATO-KU,
TOKYO, 105-0012, JAPAN
TEL: 81-3-5733-1111
FAX: 81-3-5733-1211
NORTH/SOUTH AMERICA
DELTA PRODUCTS CORPORATION (USA)
Raleigh Office
P.O. BOX 12173
5101 DAVIS DRIVE,
RESEARCH TRIANGLE PARK, NC 27709, U.S.A.
TEL: 1-919-767-3813
FAX: 1-919-767-3969
EUROPE
DELTRONICS (THE NETHERLANDS) B.V.
Eindhoven Office
DE WITBOGT 15, 5652 AG EINDHOVEN,
THE NETHERLANDS
TEL: 31-40-259-2850
FAX: 31-40-259-2851
Table of Contents
Chapter 1 System Overview ..................................................................................... 1-1
1.1
Features & Functions ................................................................................... 1-2
1.2
Maximum Configuration ............................................................................... 1-2
1.3
Communication Bus ..................................................................................... 1-3
1.4
Product Checklist ......................................................................................... 1-3
1.5
Software Development ................................................................................ 1-6
Chapter 2 Card ........................................................................................................... 2-1
2.1
Introduction to A01/B01/F01 Cards and Their Differences .......................... 2-1
2.2
A01/B01 Card No. Setting and Slave No. Setting Rules .............................. 2-4
2.3
F01 Card No. Setting and Slave No. Setting Rules ..................................... 2-4
2.4
View Card Version (EzDMC Software) ........................................................ 2-5
Chapter 3 Servo ......................................................................................................... 3-1
3.1
Servo ASD-A2####-F series........................................................................ 3-1
3.1.1 Node Number Setting ............................................................................. 3-1
3.1.2 Read Servo Parameter ........................................................................... 3-3
3.1.3 Write Servo Parameter ........................................................................... 3-3
3.1.4 Parameters Reset during the System Initialization Process ................... 3-4
3.1.5 Enable / Disable ..................................................................................... 3-5
3.1.6 Return to Origin ...................................................................................... 3-5
3.1.7 Absolute Type of Motor .......................................................................... 3-20
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General Instruction for DMCNET System
Table of Contents
Chapter 4 Remote Digital Input Module ................................................................... 4-1
4.1
Digital Input ASD-DMC-RM32MN (32 points) .............................................. 4-1
4.2
Digital Input ASD-DMC-RM64MN (64 points) .............................................. 4-2
Chapter 5 Remote Digital Output Module ................................................................ 5-1
5.1
Digital Output ASD-DMC-RM32NT (32 points) ............................................ 5-1
5.2
Digital Output ASD-DMC-RM64NT 64 points) ............................................. 5-2
Chapter 6 Remote Digital Input / Output Combination Module ............................. 6-1
6.1
Combination Module ASD-DMC-RM32PT (16-point DI/DO) ........................ 6-1
Chapter 7 Remote Analog Input Module.................................................................. 7-1
7.1
Analog Input Module ASD-DMC-RM04AD (4 channels) .............................. 7-1
Chapter 8 Remote Analog Output Module ............................................................... 8-1
8.1
Analog Output Module ASD-DMC-RM04DA (4 channels) ........................... 8-1
Chapter 9 Remote Pulse Module .............................................................................. 9-1
9.1
Pulse Module ASD-DMC-RM04PI (4 channels)........................................... 9-1
9.1.1 Explanation of Node Number Settings and Port Numbers ..................... 9-1
9.1.2 Distinguishing Mode 1 and 2 .................................................................. 9-4
9.1.3 Mode 1 Commands ................................................................................ 9-5
9.1.4 Mode 2 Commands ................................................................................ 9-6
Chapter 10 Integrated Extension Module.................................................................. 10-1
10.1
Integrated Node Module ASD-DMC-GA01 .................................................. 10-1
10.1.1 GA01/GE Pairing and GA01 Node Number Settings .............................. 10-1
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General Instruction for DMCNET System
10.1.2 GA01 Node Number Setting Helper ....................................................... 10-2
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General Instruction for DMCNET System
Table of Contents
(This page is intentionally left blank.)
4
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Chapter 1 System Overview
The “Delta motion control card system” is a comprehensive motion control solution based
on an industrial control computer recently introduced by Delta Electronics.
With a PCI interface motion control card, this system employs the DMCNET (Delta Motion
Control Network) communications bus, and can be connected with Delta's servo motors,
digital measurement modules, analog measurement modules, and pulse modules. It also
provides a rich set of software development interface functions, and can realize such
functions as planar linear interpolation, planar arc interpolation, spatial linear interpolation,
spatial helical interpolation, multi-axis interpolation, up to 12 axis interpolation, location
mode motion, velocity mode motion, torque mode motion, digital input and output, analog
input and output, pulse module, and MPG access, etc. All functions can be combined or
switched in a flexible manner, providing users with a high-speed, precise, stable motion
control solution.
B01 High-speed communications-type
motion control card
A2-F servo drive
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M-F servo drive
Integrated
expansion
module
Remote numerical
quantity module
Remote analog
quantity module
Remote pulse module
1-1
General Instruction for DMCNET System
1.1
Features & Functions





















1.2
Chapter 1 System Overview
Planar linear interpolation
Planar arc interpolation
Spatial linear interpolation
Spatial helical interpolation
Multi-set multi-axis interpolation
Up to 12-axis interpolation
Position mode motion
35 types of homing modes
Software limits
Synchronous initiation of motion commands
JOG
Speed mode motion
Torque mode motion
Digital input / output
Analog input / output
Pulse module
MPG access
Embedded security
Motion command buffer area
Motion interrupt
Triggered when the external position is reached
Maximum Configuration
Maximum system configuration: 16 cards × 12 slaves/card =
192 slaves!
No. 15 card
No. 2 card
No. 1 card
No. 0 card
The length of each card's DMCNET communications
line can be as long as 30 m!
Terminal resistance
Each card can have a
maximum of 12 slaves!
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Chapter 1 System Overview
1.3
General Instruction for DMCNET System
Communication Bus
The DMCNET (Delta Motion Control Network) communication bus is a motion control
communication protocol employing the high-speed bus developed by Delta; it employs
different CRC code when engaging in two-way communications, has a transmission
rate of 10Mbps in each channel, and supports a maximum communication distance of
up to 30 m. Physical communication cables consist of CAT-5e STP Ethernet cable
(24AWG/4Pairs).
1.4
Product Checklist
Type
Title
Model
A01 motion control card
PCI-DMC-A01
PCI interface, 12 nodes
(maximum of 12 axes)
B01 motion control card
PCI-DMC-B01
PCI interface, 12 nodes
(maximum of 12 axes)
F01 motion control card
PCI-DMC-F01
PCI interface, 12 nodes
(maximum of 6 axes
(first 6 nodes))
Terminal Resistor
ASD-TR-DM0008
One is included with
each card
DMCNET
communication cable
0.3 m
TAP-CB03
DMCNET
communication cable
0.5 m
TAP-CB05
DMCNET
communication cable
1.0 m
TAP-CB04
DMCNET
communication cable
TAP-CB10
Card
DMCNET
com.
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Notes
1-3
General Instruction for DMCNET System
Chapter 1 System Overview
1.0 m
Servo
drive
Servo
motor
Remote
module
1-4
DMCNET
communication cable
0.3 m
NC-CAB-DMC003
DMCNET
communication cable
1.5 m
NC-CAB-DMC015
DMCNET
communication cable
3.0 m
NC-CAB-DMC030
DMCNET
communication cable
5.0 m
NC-CAB-DMC050
DMCNET
communication cable
10.0 m
NC-CAB-DMC100
A2-F series servo drive
ASD-A2-####-F
100~7500w
M-F series servo drive
ASD-M-####-F
3-in-1 gantry servo
drive, 100-2000w
ECMA series servo
motor
ECMA-########
Select the specific motor
type based on the drive
type
Remote digital input
module (32 points)
ASD-DMC-RM32MN
Remote digital input
module (64 points)
ASD-DMC-RM64MN
Remote digital output
module (32 points)
ASD-DMC-RM32NT
Remote digital output
module (64 points)
ASD-DMC-RM64NT
Remote digital
combination module (16
digital input, 16 digital
output)
ASD-DMC-RM32PT
Supports MPG
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Chapter 1 System Overview
General Instruction for DMCNET System
Remote analog input
module (4 channels)
ASD-DMC-RM04AD
Remote analog output
module (4 channels)
ASD-DMC-RM04DA
Remote pulse module (4 ASD-DMC-RM04PI
channels)
Integrated
extension
module
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200KHz
Integrated node module
ASD-DMC-GA01
Extension digital input
module (16 points)
ASD-DMC-GE16MN
Must be attached to
ASD-DMC-GA01
Extension digital output
module (16 points)
ASD-DMC-GE16NT
Must be attached to
ASD-DMC-GA01
Extension pulse module
(1 channel)
ASD-DMC-GE01PH
Must be attached to
ASD-DMC-GA01; 4MHz
1-5
General Instruction for DMCNET System
1.5
Chapter 1 System Overview
Software Development
 Supported Operating System Versions
Supported operating systems: Microsoft Windows XP, Windows Vista, Windows 7,
32-bit and 64-bit operating systems.
 Supports High-level Language Software Development
Environments
Provides a standard DLL program library, and supports the following high-level
language software development environments: Visual C++, Visual Basic, Borland
C++ Builder, Delphi, Visual Basic.Net, Visual C#, etc.
 Introduction to Software Development Packet
The software development packet typically consists of compression files as shown
below.
 32 bit: applicable to Windows 32 bit systems; 64 bit: applicable to Windows 64
bit systems.
 All: applicable to A01, B01, and F01 cards.
 With “S”: Includes only driver program; Without “S”: Includes driver program,
manual, source code, EzDMC software.
 2013.12.28: Issuance date of December 28, 2013.
DISK1_32bit_All_2013.11.28/ DISK1_64bit_All_2013.11.28 path after
decompression:
EzDMC software program files\Delta Industrial Automation\PCI-DMC\app
Manual program files\Delta Industrial Automation\PCI-DMC\manual
Example source codeprogram files\Delta Industrial Automation\PCI-DMC\samples
DLL path program files\Delta Industrial Automation\PCI-DMC\dll
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Chapter 1 System Overview
General Instruction for DMCNET System
 Check DLL File Version

Method 1 (DLL File Attribute)
1. Find the program files \Delta Industrial Automation\PCI-DMC\dll from the
software installation path or software decompression path (the one that
users choose)
2. Find the three documents: PCI_DMC.dll, PCI_DMC_01.dll, and
PCI_DMC_F01.dll.
3. Press the right mouse button while highlighting a document (PCI_DMC.dll
is used as an example here), and select [Attributes] from the menu that
appears.
Select the [Version] tab bar from the [Attributes] dialog box for
PCI_DMC.dll, and you will see the file version marked by a red bracket
below. The file version of PCI_DMC.dll is: 3302.86.13.1127.
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General Instruction for DMCNET System

Chapter 1 System Overview
Method 2 (EzDMC Software)
1. Click on the Start menu, select All Programs, select Delta Industrial
Automation, select PCI-DMC, and select EzDMC to launch the EzDMC
software.
2. Click on [Search Card] in the toolbar to search for cards.
3. A list similar to that shown below will appear after the cards have been
found.
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Chapter 1 System Overview
General Instruction for DMCNET System
4. Click on About in the menu.
5. You can now see the file version, which is marked by a red bracket below,
in the {About} dialog box. The file version of PCI_DMC.dll is: 3302, 86, 13,
1209.
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General Instruction for DMCNET System
Chapter 1 System Overview
 Example of a New Project

Visual C++6.0 Environment
Operating steps for a new axis card project (dialog-based) in the VC++
development environment
Summary:
1. A new dialog-based style project.
2. Copy PCI_DMC.H, PCI_DMC_Err.h, TYPE_DEF.H to the root directory.
3. Copy PCI_DMC.lib to the root directory.
4. Add “PCI_DMC.lib” to {Project Settings} {Link} [Object/library modules: ] in
the VC environment.
5. Add a reference to PCI_DMC.H and PCI_DMC_Err.h in the .cpp source
code document.
6. Add Button1 button and write code, creating the program.
Detailed steps:
VC++ version: Visual C++ 6.0 (SP6), Enterprise Edition.
Step 1: Click on the Start menu, select All Programs, select Microsoft Visual
C++ 6.0, and select Microsoft Visual C++ 6.0 to launch the VC++
software.
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Chapter 1 System Overview
General Instruction for DMCNET System
Step 2: Click on the "New…" item in the File menu.
Step 3: Select the item [MFC AppWizard (exe)] from the checklist on the left
side of the {Projects} tab menu in the {New} dialog box, and select the
storage path (C: \Documents and Settings\admin\desktop in this
example) in [Location:]. Input the project name in [Project name: ]
(Demo in this example), and click on [OK].
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Chapter 1 System Overview
Step 4: Select the [Dialog-based] in {MFC AppWizard – Step 1} dialog box,
and click on [Finish].
Step 5: Copy the three documents: PCI_DMC.H, PCI_DMC_Err.h,
TYPE_DEF.H on the path program files\Delta Industrial
Automation\PCI-DMC\inc\VC.
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Chapter 1 System Overview
General Instruction for DMCNET System
Step 6: Paste to the root directory (location of .dsw files).
Step 7: Copy the PCI_DMC.lib document from program files\Delta Industrial
Automation\PCI-DMC\lib.
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General Instruction for DMCNET System
Chapter 1 System Overview
Step 8: Paste to the root directory (location of .dsw files).
Step 9: Click on Settings in Project menu.
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Chapter 1 System Overview
General Instruction for DMCNET System
Step 10: Select the {Link} tab menu in {Project Settings} dialog box that has
appeared, input “PCI_DMC.lib" to [Object/library modules: ], and
click on [OK].
Step 11: Double click on the [OnInitDialog ()] node. When [DemoDlg.cpp] is
opened, the following two included items will be added to the top of
the source code file.
#include "PCI_DMC.H"
#include "PCI_DMC_Err.h"
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General Instruction for DMCNET System
Chapter 1 System Overview
Step 12: In [Controls] toolbox, drag [Button] to the [Demo edit area].
Step 13: Double click on [Button1], and click on [OK] in the {Add Member
Function} dialog box.
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Chapter 1 System Overview
General Instruction for DMCNET System
Step 14: Input the following code in the void CDemoDlg:: OnButton1 ()
function:
I16 rt;
I16 CardCounts=0;
//initialize system resources and access the total number of axis
cards installed on the computer.
rt = _DMC_01_open(&CardCounts);
if (rt!=0)
{
//If opening _DMC_01_ fails, a message box will appear.
MessageBox("_DMC_01_open Error!");
}
CString strCardCounts;
strCardCounts.Format("%d",CardCounts);
MessageBox(strCardCounts);//The message box that appears will
display “Total number of axis cards.”
ber of axis cards.”
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General Instruction for DMCNET System
Chapter 1 System Overview
Step 15: Click on [Exclamation point], and click on [Yes] in {Microsoft Visual
C++} dialog box that appears.
Step 16: In the [Demo] software that has been created, click on [Button1] to
call up the {Demo} dialog box. The area marked with a red bracket
will display the total number of axis cards installed on the computer
(2 axis cards have been installed in this example).
1-18
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Chapter 1 System Overview

General Instruction for DMCNET System
Visual Basic 6.0 Environment
Operating steps for creating a new environment of motion control card in
Visual Basic 6.0:
Summary:
1. Create a new project.
2. Copy PCI_DMC.bas, PCI_DMC_Err.bas to the root directory.
3. Use Project (P) and Add (A)… to incorporate PCI_DMC.bas and
PCI_DMC_Err.bas.
4. Add the button Command1 and write code to create the program.
Detailed steps:
VB version: Visual Basic 6.0
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General Instruction for DMCNET System
Chapter 1 System Overview
Step 1: Click on the Start menu, select All Programs, select Microsoft Visual
Basic 6.0, and select Microsoft Visual Basic 6.0 to launch the VB
software.
Step 2: While still in the “standard EXE” state in the {New} tab menu of the
{New Projec t} dialog box, click on [Open].
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Chapter 1 System Overview
General Instruction for DMCNET System
Step 3: In the main window that appears, click on Save project (V) in the File
(F) menu.
Step 4: In the {S ave as} dialog box, click on the downward-pointing
arrowhead after “Save in (I): ” and browse to “Desktop."
Click on “Create new folder”.
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General Instruction for DMCNET System
Chapter 1 System Overview
Change the name of the folder to “Demo."
Double click “Demo” folder icon.
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Chapter 1 System Overview
General Instruction for DMCNET System
Click on [Save] to save “Form1.frm."
Click on [Save] to save “Project 1.vbp.”
Confirm that “Form1.frm” and “Project 1.vbp” have been saved in the
location “C: \Documents and Settings\admin\desktop\Demo.”
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General Instruction for DMCNET System
Chapter 1 System Overview
Step 5: Copy the two documents PCI_DMC.bas and PCI_DMC_Err.bas from
program files\Delta Industrial Automation\PCI-DMC\inc\VB.
Step 6: P Paste to the root directory.
Step 7: Click on Add file (A) in Project (P) menu.
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Chapter 1 System Overview
General Instruction for DMCNET System
Step 8: In the {Add file} dialog box that appears, click on the
downward-pointing arrowhead after “Find range (I): ” and browse to
the “Demo” folder.
Double click on “PCI_DMC.bas" to add it to the project.
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General Instruction for DMCNET System
Chapter 1 System Overview
Step 9: Click again on the item Add file (A) in Project (P) menu.
Step 10: In the {Add file} dialog box that appears, double click on the
“PCI_DMC_Err.bas" to add it to the project.
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Chapter 1 System Overview
General Instruction for DMCNET System
Step 11: Confirm that the two documents “PCI_DMC.bas" and
"PCI_DMC_Err.bas” have been added to the [Module] node of the
{Project resources manager}.
Step 12: Click on [CommandButton] in the toolbox.
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General Instruction for DMCNET System
Chapter 1 System Overview
Use the right mouse button to drop and drag in Form1, creating the
“Command1” button.
Step 13: Double click on [Command1] to open the code editing Windows.
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Chapter 1 System Overview
General Instruction for DMCNET System
Step14: Input the following code in Private Sub Command1_Click ().
Dim rt As Integer
Dim CardCounts As Integer
rt = B_DMC_01_open(CardCounts)
If (rt <> 0) Then MsgBox "B_DMC_01_open Error!"
MsgBox (CStr(CardCounts))
Step 15: Click on the [Right arrow] to create the program.
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General Instruction for DMCNET System
Chapter 1 System Overview
Step 16: Click on [Command1] in the newly-created {Form1} program to bring
up the {Project 1} dialog box. The total number of axis cards installed
on the computer will be displayed in the area marked with a red
bracket (two axis cards have been installed in this example).
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Chapter 2 Card
2.1

Introduction to A01/B01/F01 Cards and Their Differences
A01
The A01 motion control card can be connected to 12 slaves, and each slave can
have one servo motion axis (i.e., each card can operate 12 servo axes) or one
4-channel pulse output module can operate 4 stepper axes (i.e., each card can
operate 48 stepper axes).
July 2014
2-1
General Instruction for DMCNET System

Chapter 2 Card
B01
The B01 motion control card can be connected to 12 slaves, among and each
slave can have one servo motion axis (i.e., each card can operate 12 servo axes)
or one 4-channel pulse output module can operate 4 stepper axes (i.e., each card
can operate 48 stepper axes). The B01 card provides a position compare and
triggering function.
2-2
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Chapter 2 Card

General Instruction for DMCNET System
F01
The F01 motion control card can be connected to 12 slaves. If there is an axis of
motion (servo slave, pulse module slave), the node number must be in the range
of 1 ~ 6.

A01/B01/F01 Comparative Table
Item
A01
B01
F01
Any node
Any node
First 6
nodes
DB15 terminal, number of DI points
8
1
8
DB15 terminal, number of DO points
4
1
4
Among the 12 slaves, the node number
which can connect to the servo
Position compare and trigger
July 2014
Yes
Interval between two motion commands
Yes
Yes
Set group
Yes
Yes
Interrupt model
Yes
Yes
Speed Continue
Yes
Yes
Mechanical compensation
Yes
Yes
2-3
General Instruction for DMCNET System
2.2
Chapter 2 Card
A01/B01 Card No. Setting and Slave No. Setting Rules
Card number setting: Turn the dial until the arrow points to the needed card number.
Card number setting rules:
Permissible range of card numbers: 0 ~ 9, A (10), B (11), C (12), D (13), E (14), F (15);
A card number cannot be repeated on the same industrial control computer.
Node number setting rules for slaves connected with card:
Permissible node number range: 1~12;
There must be a node 1;
A node number cannot be repeated on the same card.
2.3
F01 Card No. Setting and Slave No. Setting Rules
Card number setting: Turn the dial until the arrow points to the needed card number.
Card number setting rules:
Permissible range of card numbers: 0 ~ 9, A (10), B (11), C (12), D (13), E (14), F (15);
A card number cannot be repeated on the same industrial control computer.
Node number setting rules for slaves connected with card:
Permissible node number range: 1 ~ 12, and the permissible node number to connect
to the servo: 1 ~ 6;
There must be a node 1;
A node number cannot be repeated on the same card.
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July 2014
Chapter 2 Card
2.4
General Instruction for DMCNET System
View Card Version (EzDMC Software)
Step 1: Click on the Start menu, select All Programs, select Delta Industrial Automation,
select PCI-DMC, and select EzDMC to launch the EzDMC software.
Step 2: Click on [Search Card] in the toolbar to search for cards.
July 2014
2-5
General Instruction for DMCNET System
Chapter 2 Card
Step 3: A list similar to that shown below will appear after the cards have been found.
Step 4: Click on the name of the card you wish to view (this example uses
PCI-DMC-F01 CardID 1), as shown below.
Step 5: Click on About in the menu.
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July 2014
Chapter 2 Card
General Instruction for DMCNET System
Step 6: In the {About} dialog box, you will see the "card version" and "card FPGA
version" information indicated below marked with a red bracket. The card
version of PCI-DMC-F01 CardID 1 in this example is 0x81, and the card FPGA
version is 0.129.
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General Instruction for DMCNET System
Chapter 2 Card
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2-8
July 2014
Chapter 3 Servo
3.1
Servo ASD-A2####-F Series
3.1.1
Node Number Setting
Parameter P3-00 of the servo drive: station number.
Permissible setting range of P3-00: When connected to card A01/B01: 1 ~ 9, A
(10), b (11), C (12); when connected to card F01: 1 ~ 6.
Parameter setting steps:
Step 1: Enter parameter mode: Press [MODE] repeatedly, until the LED
segment display shows "P# - **" (#, *indicates a number or character).
Step 2.1: Specify parameter group: Press [SHIFT] repeatedly, until the "#"
position shows the desired value.
Step 2.2: Specify parameter sequence number: Press Up or Down repeatedly,
until "**" increases or decreases to the desired value.
Step 3: Enter parameter "view/edit" state: Press [SET], and a position in the LED
segment display will start flashing.
Step 4: Change parameter value: Press [SHIFT] to switch to the flashing position.
Press the Up or Down to increase or decrease the parameter value.
Step 5: Save and exit: Press [SET], and the LED segment display will
automatically switch to "P# - **" word. (Exit without saving: Press
[MODE], and the LED segment display will automatically switch back to
"P# - **" word.)
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General Instruction for DMCNET System
Chapter 3 Servo
Servo drive parameter viewing step:
Step 1: Enter parameter mode: Press [MODE] repeatedly, until the LED
segment display shows "P# - **" (#, *indicates a number or character).
Step 2.1: Specify parameter group: Press [SHIFT] repeatedly, until the "#"
position shows the desired value.
Step 2.2: Specify parameter sequence number: Press the [Up arrow] or [Down
arrow] repeatedly, until "**" increases or decreases to the desired
value.
Step 3: Enter parameter "view/edit" state: Press [SET], and a position in the LED
segment display will start flashing.
Step 4: Exit: Press [MODE], and the LED segment display will automatically
switch back to "P# - **" word
Restore servo drive parameter defaults
Step 1: Set parameters P2-08 to 10.
Step 2: Restart the device.
Clear AL013 (servo parameters are default settings, CN1 interface is not linked
with a limit switch)
Note: This is a normal phenomenon.
Step 1: Set parameters P2-17 to 121.
Step 2: Restart the device.
Clear AL015 (servo parameters are default settings, CN1 interface is not linked
with a limit switch)
Note: This is a normal phenomenon.
Step 1: Set parameters P2-16 to 123.
Step 2: Restart the device.
Clear AL014 (servo parameters are default settings, CN1 interface is not linked
with a limit switch)
Note: This is a normal phenomenon.
Step 1: Set parameters P2-15 to 122.
Step 2: Restart the device.
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July 2014
Chapter 3 Servo
3.1.2
General Instruction for DMCNET System
Read Servo Parameter
//Read servo parameter data.
//Note: It is recommended that this function not be placed in a code area
requiring fast loop implementation.
I16 PASCAL _DMC_01_read_servo_parameter (U16 CardNo,//card number,
value range: 0-15.
U16 NodeID,//node number, value range: 1-12.
U16 SlotID,//SlotID, this is assigned a value of 0.
U16 group,//parameter group code.
U16 idx,//parameter sequence number.
U32*data//returned parameter value.
)
Note: For example, to read parameters P3-00, assign the group a value of 3, and
assign idx of value of 0.
3.1.3
Write Servo Parameter
//Write servo parameter data.
//Note: It is recommended that this function not be placed in a code area
requiring fast loop implementation.
I16 PASCAL _DMC_01_write_servo_parameter (U16 CardNo,//card number,
value range: 0-15.
U16 NodeID,//node number, value range: 1-12.
U16 SlotID,//SlotID, this is assigned a value of 0.
U16 group,//parameter group code.
U16 idx,//parameter sequence number.
U32 data//entered new parameter value.
)
July 2014
3-3
General Instruction for DMCNET System
3.1.4
Chapter 3 Servo
Parameters Reset during the System Initialization Process:
In "motion control card system initialize process" or "re-power on the servo drive”,
the servo drive parameters will be reset:
Parameters Explanation of parameter
P1-32
Motor stop mode
P1-34
Acceleration constant of S-curve
P1-38
Zero speed range setting
P1-44
Electronic gear (denominator) (N1)
P1-45
Electronic gear (denominator) (M)
P1-47
Speed reached (DO.SP_OK) range
P1-49
Time range after Speed reached
P2-35
Condition of excessive position control
deviation warning
Corresponding method:
{Method 1} After completing initialization of the axis card, use the
_DMC_01_write_servo_parameter (U16 CardNo, U16 NodeID, U16 SlotID, U16
group,U16 idx,U32 data) function to write the expected value as a servo driver
parameter to be used.
{Method 2} Change the Z bit of servo drive parameters P3-12 (defined as follows)
to 1, restart the servo drive, and change the parameter to be used.
P3-12
QSTPO
CANopen Support Setting
Communication
address:0318H
0319H
Default
0x0000
value
Control
CANopen
method
Unit: 0x0000 ~ 0x0111
Range: As below
Data size: 16bit
Format: HEX
3-4
July 2014
Chapter 3 Servo
General Instruction for DMCNET System
Settings: CANopen synchronization setting is divided into X, Y, Z, U
(hexadecimal):
Digit
U
Function
-
Range
-
Z
Y
X
CANopen If the motor will
Whether OD-6040
value will enter Quick Stop
supports Quick
be
mode when in auto
Stop
loaded in
protection
0~1
0~1
0~1
Defined as follows:
X=0: Servo ON only requires OD-6040 Bit3 (Enable Operation) to
be ON
X=1: Servo ON requires OD-6040 Bit0, Bit1, Bit3 to be ON
(complies with CANopen DS402 standard), and supports
entry to Quick Stop mode via OD-6040 Bit2 (Quick Stop)
Y=0: Will not enter Quick Stop mode when automatic protection
causes motor decelerates to stop.
Y=1: Will enter Quick Stop mode when automatic protection
causes motor decelerates to stop; requires fault reset in order
to continue other commands.
Z=0: After re-power on or reset the communication, CANopen
default value will be loaded in.
Z=1: Will not change parameter values after re-power on or reset
the communication.
U: Undefined
3.1.5
Enable / Disable
//Enable (excite) or disable motor.
I16 PASCAL _DMC_01_ipo_set_svon (U16 CardNo,//card number, value range:
0-15.
U16 NodeID,//node number, value range: 1-12.
U16 SlotID,//SlotID, this is assigned a value of 0.
U16 ON_OFF//ON_OFF value, 0: disable; 1: enable.
July 2014
3-5
General Instruction for DMCNET System
3.1.6
Chapter 3 Servo
Return to Origin

Parameter Configuration
//parameter configuration, set homing mode, offset, low speed, high speed,
acceleration time.
//Note: Software limits must be disabled before homing.
I16 PASCAL _DMC_01_set_home_config (U16 CardNo,//card number,
value range: 0~15.
U16 NodeID,//node number, value range: 1~12.
U16 SlotID,//SlotID, this is assigned a value of 0.
U16 Mode,//mode, value range 1~35.
I32 offset,//deflection.
//low speed, units: rpm, value range: 1~500.
U16 low speed
//high speed, units: rpm, value range:
U16 high speed, 1~2000
F64 acc//acceleration time.
)

Homing Mode
Negative limit
switch
Origin switch
Positive limit
switch
Mode 1
Negative limit switch
Negative limit
Z-phase pulse
■Start position
●Origin
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July 2014
Chapter 3 Servo
General Instruction for DMCNET System
Mode 2
Positive limit switch
Positive limit
Z-phase pulse
■Start position
●Origin
Mode 3
Origin switch
Origin
Z-phase pulse
■Start position
●Origin
Mode 4
Origin switch
Origin
Z-phase pulse
■Start position
●Origin
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General Instruction for DMCNET System
Chapter 3 Servo
Mode 5
Origin switch
Origin
Z-phase pulse
■Start position
●Origin
Mode 6
Origin switch
Origin
Z-phase pulse
■Start position
●Origin
Mode 7
Origin switch
Positive limit switch
Origin
Positive limit
Z-phase pulse
■Start position
●Origin
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July 2014
Chapter 3 Servo
General Instruction for DMCNET System
Mode 8
Origin switch
Positive limit switch
Origin
Positive limit
Z-phase pulse
■Start position
●Origin
Mode 9
Origin switch
Positive limit switch
Origin
Positive limit
Z-phase pulse
■Start position
●Origin
Mode 10
Origin switch
Positive limit switch
Origin
Positive limit
Z-phase pulse
■Start position
●Origin
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General Instruction for DMCNET System
Chapter 3 Servo
Mode 11
Negative limit switch Origin switch
Negative limit
Origin
Z-phase pulse
■Start position
●Origin
Mode 12
Negative limit switch Origin switch
Negative limit
Origin
Z-phase pulse
■Start position
●Origin
Mode 13
Negative limit switch Origin switch
Negative limit
Origin
Z-phase pulse
■Start position
●Origin
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July 2014
Chapter 3 Servo
General Instruction for DMCNET System
Mode 14
Negative limit switch Origin switch
Negative limit
Origin
Z-phase pulse
■Start position
●Origin
Mode 15 - Reserved
Mode 16 - Reserved
Mode 17
Negative limit switch
Negative limit
■Start position
●Origin
July 2014
3-11
General Instruction for DMCNET System
Chapter 3 Servo
Mode 18
Positive limit switch
Positive limit
■Start position
●Origin
Mode 19
Origin switch
Origin
■Start position
●Origin
Mode 20
Origin switch
Origin
■Start position
●Origin
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July 2014
Chapter 3 Servo
General Instruction for DMCNET System
Mode 21
Origin switch
Origin
■Start position
●Origin
Mode 22
Origin switch
Origin
■Start position
●Origin
Mode 23
Origin switch
Positive limit switch
Origin
Positive limit
■Start position
●Origin
July 2014
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General Instruction for DMCNET System
Chapter 3 Servo
Mode 24
Origin switch
Positive limit switch
Origin
Positive limit
■Start position
●Origin
Mode 25
Origin switch
Positive limit switch
Origin
Positive limit
■Start position
●Origin
Mode 26
Origin switch
Positive limit switch
Origin
Positive limit
■Start position
●Origin
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July 2014
Chapter 3 Servo
General Instruction for DMCNET System
Mode 27
Negative limit switch Origin switch
Negative limit
Origin
■Start position
●Origin
Mode 28
Negative limit switch Origin switch
Negative limit
Origin
■Start position
●Origin
Mode 29
Negative limit switch Origin switch
Negative limit
Origin
■Start position
●Origin
July 2014
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General Instruction for DMCNET System
Chapter 3 Servo
Mode 30
Negative limit switch
Origin switch
Negative limit
Origin
■Start position
●Origin
Mode 31 - Reserved
Mode 32 - Reserved
Mode 33
Z-phase pulse
■Start position
●Origin
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July 2014
Chapter 3 Servo
General Instruction for DMCNET System
Mode 34
Z-phase pulse
■Start position
●Origin
Mode 35
■Start position
●Origin
Offset
Positive
offset
Negative
offset
●Origin (before offset)
♦New origin (after offset)
July 2014
3-17
General Instruction for DMCNET System

Chapter 3 Servo
Implement Homing
//Start homing
I16 PASCAL _DMC_01_set_home_move (U16 CardNo,//card number,
value range: 0~15.
U16 NodeID,//node number, value range: 1~12.
U16 SlotID//SlotID, this is assigned a value of 0.

Judge Whether Completed
Introduction
Two functions must be invoked when judging whether homing has been
completed, and "Homing complete" status must simultaneously satisfy the
following two conditions:
1. Execute _DMC_01_motion_done, which returns MC_done (= 0);
2. Execute _DMC_01_motion_status, which returns MC_status;
"Mode Selection" is "Homing mode (bit3 is 0, bit2 is 1, bit1 is 1, and bit0 is
0),"
"Mode specific" allows "Can implement homing (bit12 is 1),"
"Target arrival at objective (bit10)" is 1.
//achieve motion stage.
I16 PASCAL _DMC_01_motion_done (U16 CardNo,//card number, value
range: 0-15.
U16 NodeID,//node number, value range: 1-12.
U16 SlotID,//SlotID, this is assigned a value of 0.
U16*MC_status//transmit back motion stage, 0:
stop motion.
//achieve general motion status.
I16 PASCAL _DMC_01_motion_status (U16 CardNo,//card number, value
range: 0-15.
U16 NodeID,//node number, value range:
1-12.
U16 SlotID,//SlotID, this is assigned a value
of 0.
U32*MC_status//transmit back general
motion status.
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July 2014
Chapter 3 Servo
General Instruction for DMCNET System
Notes:
Transmit back general motion status MC_status
Bit
7
6
5
4
3
2
1
0
Label
TG
DR
WR
DI3
Mode
3
Mode
2
Mode
1
Mode
0
Description
Triggerin
g mode
Data error
message
Alarm
message
DI3(SLD)
Status map
Mode Selection
Bit
15
14
13
12
11
10
9
8
Label
NEL
PEL
MDS1
MDS0
N/A
Target
DriverErr
PWRON
Motion
direction
1: Positive
0:
negative
Arrival at
objective
Drive
Error
Motor
start
excitation
Description
Negative
limit
Positive
limit
Mode specific
Transmit back "Mode selection" in general motion status MC_status
Bit
3
2
1
0
Label
Mode 3
Mode 2
Mode 1
Mode 0
0
0
0
1
Profile Position mode
0
0
1
1
Profile Velocity mode
0
1
0
0
Profile Torque mode
0
1
1
0
Homing mode
1
1
1
1
DMCNET mode
Value
Explanation of mode
Transmits back "Mode specific" in general motion status MC_status
Bit
13
12
Label
MDS 1
MDS 0
1
Mode Selection:
Homing mode
Mode Selection:
DMCNET mode
July 2014
Homing error
1
Value
Explanation of
mode
1
Can implement
homing
Undefined
1
Mode enabled
3-19
General Instruction for DMCNET System

Chapter 3 Servo
Terminate Homing
//terminates homing motion.
I16 PASCAL _DMC_01_escape_home_move (U16 CardNo,//card number,
value range: 0-15.
U16 NodeID,//node number, value range: 1~12.
U16 SlotID//SlotID, this is assigned a value of 0.
3.1.7
Absolute Type of Motor
Applications steps of absolute type of motor:
1. Set parameters P2-69 = 1, which is in absolute type of motor mode, and
restart device.
2. Set parameters P2-08 = 271 and P2-71 = 1 to initialize absolute coordinates,
and the AL060 warning will be cleared.
3. Invoke axis card commands (function commands from incremental type and
absolute type of motor are the same) to perform motion control.

Obtain Current Position of Absolute Type of Motor
Invoke _DMC_01_get_position command, which will obtain the current
position of the absolute motor.
Example 1:
1. When the working platforms of the "incremental motor" and "absolute
motor" both have positions of 20,
Incremental
Absolute
Position
coordinate axis
the value returned by incremental motor _DMC_01_get_position will be 20,
and the value returned by absolute motor _DMC_01_get_position will be 20.
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July 2014
Chapter 3 Servo
General Instruction for DMCNET System
2. When the working platforms of the "incremental motor" and "absolute
value motor" are unmoving at a position of 20, the servo driver will be
re-powered on,
Incremental
Absolute
Position coordinate
axis
and the value returned by incremental motor _DMC_01_get_position will be
0, and the value returned by absolute motor _DMC_01_get_position will be
20.
Example 2:
1. When the working platforms of the "incremental motor" and "absolute
motor" both have positions of 20, the value returned by incremental motor
_DMC_01_get_position will be 20, and the value returned by absolute
motor _DMC_01_get_position will be 20.
Incremental
Absolute
Position coordinate
axis
July 2014
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General Instruction for DMCNET System
Chapter 3 Servo
2. With power off the servo driver, move the working platforms of the
"incremental motor" and "absolute motor" to 80 by hand.
Incremental
Absolute
Position coordinate
axis
3. When power is applied to the servo drives, and the value returned by
incremental motor _DMC_01_get_position will be 0, and the value
returned by absolute motor _DMC_01_get_position will be 80, which
indicates that the change in the position of the absolute motor when
power was off has been recorded.
3-22
July 2014
Chapter 4
4.1

Remote Digital Input
Module
Digital Input ASD-DMC-RM32MN (32 points)
Explanation of Node Number Settings and Port Numbers
Node number dial
Port 0
Port 1
Effective range of node number dial: 1~9, A(10), B(11), C(12).
July 2014
4-1
General Instruction for DMCNET System
4.2
Chapter 5 Remote Digital Output Module
Digital Input ASD-DMC-RM64MN (64 points)
 Explanation of Node Number Settings and Port Numbers
Node number dial
Port 0
Port 1
Port 2
Port 3
Effective range of node number dial: 1~9, A(10), B(11), C(12).
4-2
July 2014
Chapter 5 Remote Digital Output
Module
5.1

Digital Output ASD-DMC-RM32NT (32 points)
Explanation of Node Number Settings and Port Numbers
Node number
dial
Port 0
Port 1
Effective range of node number dial: 1~9, A(10), B(11), C(12).
July 2014
5-1
General Instruction for DMCNET System
5.2

Chapter 5 Remote Digital Output Module
Digital Output ASD-DMC-RM64NT (64 points)
Explanation of Node Number Settings and Port Numbers
Node number
dial
Port 0
Port 1
Port 2
Port 3
Effective range of node number dial: 1~9, A(10), B(11), C(12).
5-2
July 2014
Chapter 6 Remote Digital Input /
Output Combination Module
6.1
Combination Module ASD-DMC-RM32PT (16-point Digital
Input / Digital Output)

Explanation of Node Number Settings and Port Numbers
Node number
dial
Port 0, input
Port 1, output
Effective range of node number dial: 1~9, A(10), B(11), C(12).
July 2014
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General Instruction for DMCNET System
Chapter 6 Remote Digital Input/Output Combination Module
(This page is intentionally left blank.)
6-2
July 2014
Chapter 7 Remote Analog Input
Module
7.1

Analog Input Module ASD-DMC-RM04AD (4 channels)
Explanation of Node Number Settings and Port Numbers
Channel 0
Channel 1
Channel 2
Channel 3
Node number
dial
Node number setting: Turn the arrowhead on the “Node number dial” until the
desired number of nodes is reached.
Effective range of node number dial: 1~9, A(10), B(11), C(12).
Channel number: 0 ~ 3.
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Chapter 7 Remote Analog Input Module
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7-2
July 2014
Chapter 8 Remote Analog Output
Module
8.1

Analog Output Module ASD-DMC-RM04DA (4 channels)
Explanation of Node Number Settings and Port Numbers
Channel 0
Channel 1
Channel 2
Channel 3
Node number
dial
Node number setting: Turn the arrowhead on the “Node number dial” until the
desired number of nodes is reached.
Effective range of node number dial: 1~9, A(10), B(11), C(12).
Channel number: 0~3.
July 2014
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General Instruction for DMCNET System
Chapter 8 Remote Analog Output Module
(This page is intentionally left blank.)
8-2
July 2014
Chapter 9 Remote Pulse Module
9.1
Pulse Module ASD-DMC-RM04PI (4 channels)
9.1.1
Explanation of Node Number Settings and Port Numbers
The ASD-DMC-RM04PI module (shown below) can be connected with four stepping
motors operating axes 0~3, and has the two operating modes "mode 1" and "mode
2".
Node number dial
Mode dip switch

Mode 1
1. Mode setting: Move dip switch to position “1”.
July 2014
9-1
General Instruction for DMCNET System
Chapter 9 Remote Pulse Module
2. Node number setting: Each RM04PI module occupies one node number,
and the upper and lower node number dials point to the same position
(effective range of node number dial: When connected to card A01/B01: 1~9,
A (10), B (11), C (12); when connected to card F01: 1~6.) . The following
illustration shows 2 nodes.
Upper node number dial
Lower node number dial
The module only occupies one node number, and command functions are
distinguished as AXIS0, AXIS1, AXIS2, AXIS3, and SlotID by means of the
SlotID parameter, and the inputs 0, 1, 2, and 3 correspond to AXIS0, AXIS1,
AXIS2, and AXIS3, respectively.
For example, assuming the 04PI module node number is 2, and the
corresponding card number is 1, if it is wished to connect the stepping motor
with AXIS2 to initiate the movement of single-axis, the following function can
be invoked: _DMC_01_rm_04pi_md1_start_move (U16 CardNo, U16
NodeID,U16 SlotID, I32 Dist, I32 StrVel, I32 MaxVel, F64 Tacc, F64
Tdec,U16 m_curve,U16 m_r_a), where parameters include CardNo=1,
NodeID=2, SlotID=2, and appropriate values are entered for other
parameters.

9-2
Mode 2
1. Mode setting: Move dip switch to position "2 (ON)".
July 2014
Chapter 9 Remote Pulse Module
General Instruction for DMCNET System
2. Node number setting: Each RM04PI module occupies node numbers 1~4,
which correspond to AXIS0, AXIS1, AXIS2, and AXIS3. The upper node
number dial indicates the starting node number, and the lower node number
dial indicates the ending node number. The following rules apply:
Axis 0
Axis 1
Axis 2
Axis 3
Number of
Range of
nodes occupied
values on
by module
upper dial
Valid
Invalid
Invalid
Invalid
1
1--12
Valid
Valid
Invalid
Invalid
2
1--11
Valid
Valid
Valid
Invalid
3
1--10
Valid
Valid
Valid
Valid
4
1--9
Value on
lower dial
Value on
upper dial
Value on
upper dial +1
Value on
upper dial +2
Value on
upper dial +3
Note: Effective ranges of upper and lower node number dials: When connected to card
A01/B01: 1~9, A (10), B (11), C (12); When connected to card F01: 1~6.
For example, if AXIS 0, AXIS 1, and AXIS 2 are effective, but AXIS 3 is
invalid, as shown in the third row of the table above, the module occupies
three node numbers, and the upper node number dial has a range of 1-10. If
the upper node number dial points to 2, the lower node number dial should
point to 4 (2 + 2), as shown in the illustration below. This indicates that AXIS
0 corresponds to a node number of 2, AXIS 1 corresponds to a node number
of 3, AXIS 2 corresponds to a node number of 4, and AXIS 3 is invalid.
Upper node
number dial
Lower node
number dial
The module occupies node numbers 1 ~ 4, the command functions
distinguish the individual axes via the NodeID parameter, and the SlotID
parameter inputs 0.
July 2014
9-3
General Instruction for DMCNET System
9.1.2
Chapter 9 Remote Pulse Module
Distinguishing Mode 1 and 2
Mode setting
Mode 1
Mode 2
Dip switch is at position 1
Dip switch is at position 2 (ON)
Only occupies one node
number
Occupies node numbers 1 ~ 4
The upper dial points to the
Node number setting
The upper and lower dials
starting node, and the lower
point to the same number
dial points to the ending node
number
Motion command
Commands used only in
Corresponding to commands
pulse module mode 1
of servo axis
Can perform interpolation of
Interpolation motion
Only interpolation of
internal axes within module
internal axes within module,
and can perform interpolation
of axes within module and
axes outside module
_DMC_01_get_devicetype
Obtains DeviceType
0x1C100191
0x14100191
value
Advantages
9-4
Module internal and external
interpolation
July 2014
Chapter 9 Remote Pulse Module
9.1.3

General Instruction for DMCNET System
Mode 1 Commands
Obtains DI/DO Status (_DMC_01_get_monitor)
1.Invoke _DMC_01_set_monitor (U16 CardNo, U16 NodeID, U16 SlotID, U16
monitorw);
U16 CardNo//card number
U16 NodeID//node number
U16 SlotID//SlotID, corresponds to each channel, inputs 0, 1, 2, 3.
U16 monitorw//inputs 0x27, or 0x28.
{2} invoke _DMC_01_get_monitor (U16 CardNo, U16 NodeID, U16 SlotID, U32
* value);
U16 CardNo//card number
U16 NodeID//node number
U16 SlotID//SlotID, corresponds to each channel, inputs 0, 1, 2, 3.
The following is the relationship between the binary bits and the DI/DO of the
value obtained.
31
15
30
29
28
27
26
25
24
MEL
PEL
ORG
SLD
QZ
DI2
DI1
14
July 2014
13
12
11
10
9
8
23
7
22
6
21
20
DO2
DO1
5
4
19
3
18
2
17
16
Bit
1
0
Bit
9-5
General Instruction for DMCNET System
9.1.4

Chapter 9 Remote Pulse Module
Mode 2 Commands
Obtains DI/DO Status (_DMC_01_get_monitor)
Read DI status
1. Invoke _DMC_01_set_monitor (U16 CardNo, U16 NodeID, U16 SlotID, U16
monitorw);
U16 CardNo//card number
U16 NodeID//node number
U16 SlotID//SlotID, inputs 0.
U16 monitorw//inputs 0x27.
2. invoke _DMC_01_get_monitor (U16 CardNo, U16 NodeID, U16 SlotID, U32
*value);
U16 CardNo//card number
U16 NodeID//node number
U16 SlotID//SlotID, inputs 0.
The following is the relationship between the binary bits and the DI of the value
obtained.
7
6
5
4
3
2
1
0
MEL
PEL
ORG
SLD
QZ
DI2
DI1
Bit
Read DO status
1. Invoke _DMC_01_set_monitor (U16 CardNo, U16 NodeID, U16 SlotID, U16
monitorw);
U16 CardNo//card number
U16 NodeID//node number
U16 SlotID//SlotID, inputs 0.
U16 monitorw//inputs 0x28.
2. invoke _DMC_01_get_monitor (U16 CardNo, U16 NodeID, U16 SlotID, U32
*value);
U16 CardNo//card number
U16 NodeID//node number
U16 SlotID//SlotID, inputs 0.
The following is the relationship between the binary bits and the DO of the value
obtained.
7
9-6
6
5
4
3
2
1
0
DO2
DO1
Bit
July 2014
Chapter 9 Remote Pulse Module

General Instruction for DMCNET System
Obtain DI status (_DMC_01_get_servo_DI)
invoke _DMC_01_get_servo_DI (U16 CardNo, U16 NodeID, U16 SlotID, U16
*servo_DI);
U16 CardNo//card number
U16 NodeID//node number
U16 SlotID//SlotID, inputs 0.
The following is the relationship between the binary bits and the DI of the
servo_DI value obtained.
7

6
5
4
3
2
1
0
MEL
PEL
ORG
SLD
QZ
DI2
DI1
Bit
Obtain DO status (_DMC_01_get_servo_DO)
Invoke _DMC_01_get_servo_DO (U16 CardNo, U16 NodeID, U16 SlotID, U16
*servo_DO);
U16 CardNo//card number
U16 NodeID//node number
U16 SlotID//SlotID, inputs 0.
The following is the relationship between the binary bits and the DO of the
servo_DO value obtained.
7
July 2014
6
5
4
3
2
1
0
DO2
DO1
Bit
9-7
General Instruction for DMCNET System
Chapter 9 Remote Pulse Module
(This page is intentionally left blank.)
9-8
July 2014
Chapter 10 Integrated Extension
Module
10.1 Integrated Node Module ASD-DMC-GA01
The GA01 module is an accessing point. It connects each GE modules to the
DMCNET network.
10.1.1 GA01/GE Pairing and GA01 Node Number Settings
1. One GA01 can connect to a maximum of 8 GE function modules, of which
there may be a maximum of four GE01PH modules.
2. One GE01PH module occupies one node number.
3. A maximum of 4 GE16MN modules and a maximum of 4 GE16NT modules
may jointly occupy one node number.
ADDR1 on the GA01 module's upper node number dial designates the starting
node, and ADDR2 on the lower node number dial designates the ending node
number.
Effective ranges of upper and lower node number dials: 1~9, A (10), B (11), C
(12).
Note: When connected to card F01: If there is 01PH, the 01PH node number must
in the range of 1 ~ 6.
July 2014
10-1
General Instruction for DMCNET System
10.1.2
Chapter 10 Integrated Extension Module
GA01 Node Number Setting Helper
Step 1: Click on the Start menu, select All Programs, select Delta Industrial
Automation, select PCI-DMC, and select EzDMC to launch EzDMC
software.
Step 2: Click on GE Node Calc in the Simulation menu.
10-2
July 2014
Chapter 10 Integrated Extension Module
General Instruction for DMCNET System
Step 3: In sequence, enter the number of GE01PH modules, GE16MN modules,
and G16NT modules, and the upper node number dial starting node for
the GA01 module, then click on [End NodeID].
Step 4: Value in the red bracket in the illustration below is the required setting of
the lower node number dial. In this example, there is one GE01PH
module, three GE16MN modules, and four G16NT modules, the upper
node number dial starting node for the GA01 module is 2, and the
calculated lower node number dial value is 3. In this situation, the GA/GE
module occupies node numbers 2 and 3.
July 2014
10-3
General Instruction for DMCNET System
Chapter 10 Integrated Extension Module
In the following example, there is one GE01PH module, four GE16MN modules,
and four G16NT modules, the upper node number dial starting node for the
GA01 module is 1. This does not comply with the rule that one GA01 module
cannot be connected with more than 8 GE functional modules.
In the following example, there are no GE01PH modules, five GE16MN modules,
and no G16NT modules, and the upper node number dial starting node for the
GA01 module is 1. In accordance with the rule that a maximum of 4 GE16MN
modules and a maximum of 4 GE16NT modules may jointly occupy one node
number, the extra GE16MN module must occupy one node number, and the
calculated lower node number dial value is 2. In this situation, the GA/GE module
occupies node numbers 1 and 2.
10-4
July 2014
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