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Chapter 22 3-Axis Spiral Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
22-6 Revised March, 2012
22.3 _DMC_01_start_ta_heli_xy
FORMAT
I16 PASCAL _DMC_01_start_ta_heli_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, I32 Depth, I32 Pitch, I16 Dir, I32 StrVel, I32 MaxVel, F64 Tacc,
F64 Tdec)
Purpose
3-axis Spiral interpolation motion using absolute coordinates with T-curve velocity
cross-section.
Parameters
Name Data Type Unit Description
CardNo U16 Number Unit CardNo is between 0~15
NodeIDArray U16* Number Unit
Holds Node ID sets used for spiral
interpolation
NodeIDArray[0] = Node_1
NodeIDArray[1] = Node_2
NodeIDArray[2] = Node_3
SlotID U16* Number Unit Slot ID
Center_X, I32 Number of pulses
Absolute center point X-coordinate on the
specified axis
Center_Y I32 Number of pulses
Absolute center point Y-coordinate on the
specified axis
Depth I32 Number of pulses
Absolute depth to position on specified axis
(height in direction of Z)
Pitch I32 Number of pulses Absolute height between two spirals
Dir I16 Selection
Direction of spiral arc motion. Clockwise: 1 ;
Counterclockwise: 0
StrVel I32 Pulses per second Starting velocity parameter
MaxVel I32 Pulses per second Maximum velocity parameter
Tacc F64 Second Specified acceleration time
Tdec F64 Second Specified deceleration time
- PCI-DMC-A01 1
- PCI-DMC-B01 1
- Revised March, 2012 i 3
- Table of Contents 4
- Revised March, 2012 iii 5
- Revised March, 2012 v 7
- Revised March, 2012 vii 9
- Revised March, 2012 ix 11
- Revised March, 2012 xi 13
- Revised March, 2012 xiii 15
- API Function Library 17
- 1.2.3 Using VB 18
- 1.2.4 Using Delphi 18
- 1.2.5 Using VB.Net 18
- 1.2.6 Using C# 18
- 2.1 Error Codes 19
- 2-2 Revised March, 2012 20
- Revised March, 2012 2-3 21
- Example 22
- 3.1.1 Function List 23
- 3.1.2 Sample Application 23
- 3-2 Revised March, 2012 24
- Revised March, 2012 3-3 25
- 3.2.1 Function List 26
- 3.2.2 Sample Application 26
- Revised March, 2012 3-5 27
- 3-6 Revised March, 2012 28
- 3.3.1 Function List 29
- 3.3.2 Sample Application 29
- 3-8 Revised March, 2012 30
- 3.4.1 Overview 31
- 3.4.2 Function List 32
- 3.4.3 Sample Application 32
- Revised March, 2012 3-11 33
- 3-12 Revised March, 2012 34
- 3.5.1 Function List 35
- 3.5.2 Sample Application 35
- 3-14 Revised March, 2012 36
- 7) Exit procedure 37
- 3.6.1 Function List 38
- 3.6.2 Sample Application 38
- Revised March, 2012 3-17 39
- 3-18 Revised March, 2012 40
- 3.7.1 Function List 41
- 3.7.2 Sample Application 41
- 3-20 Revised March, 2012 42
- 3.8.1 Overview 43
- 3.8.2 Function List 43
- 3.8.3 Sample Application 44
- Revised March, 2012 3-23 45
- 3-24 Revised March, 2012 46
- Revised March, 2012 3-25 47
- 3.9.1 Overview 48
- 3.9.2 Function List 48
- 3.9.3 Sample Application 49
- 3-28 Revised March, 2012 50
- Revised March, 2012 3-29 51
- 3-30 Revised March, 2012 52
- 3.10.1 Overview 53
- 3.10.2 Function List 53
- 3.10.3 Sample Application 54
- Revised March, 2012 3-33 55
- 3-34 Revised March, 2012 56
- Revised March, 2012 3-35 57
- 3-36 Revised March, 2012 58
- 3.11.1 Function List 59
- 3.11.2 Sample Application 59
- 3-38 Revised March, 2012 60
- Revised March, 2012 3-39 61
- 3-40 Revised March, 2012 62
- Revised March, 2012 3-41 63
- 3.12.1 Overview 64
- 3.12.2 Function List 64
- 3.12.3 Sample Application 65
- 3-44 Revised March, 2012 66
- Revised March, 2012 3-45 67
- 3-46 Revised March, 2012 68
- 3.13.1 Function List 69
- 3.13.2 Sample Application 69
- 3-48 Revised March, 2012 70
- Revised March, 2012 3-49 71
- 3-50 Revised March, 2012 72
- 3.14.1 Function List 73
- 3.14.2 Sample Application 73
- 3-52 Revised March, 2012 74
- Revised March, 2012 3-53 75
- 3-54 Revised March, 2012 76
- 3.15.1 Function List 77
- 3.15.2 Sample Application 77
- 3-56 Revised March, 2012 78
- 3.16.1 Function List 79
- 3.16.2 Sample Application 79
- 3-58 Revised March, 2012 80
- Revised March, 2012 3-59 81
- 3.17.1 Function List 82
- 3.17.2 Sample Application 82
- Revised March, 2012 3-61 83
- 3-62 Revised March, 2012 84
- 3.18.1 Function List 85
- 3.18.2 Sample Application 85
- 3-64 Revised March, 2012 86
- Revised March, 2012 3-65 87
- 3-66 Revised March, 2012 88
- 3.19.1 Function List 89
- 3.19.2 Sample Application 89
- 3-68 Revised March, 2012 90
- Revised March, 2012 3-69 91
- 3.20.1 Function List 92
- 3.20.2 Sample Application 92
- Revised March, 2012 3-71 93
- 3-72 Revised March, 2012 94
- 3.21.1 Function List 95
- 3.21.2 Sample Application 95
- 3-74 Revised March, 2012 96
- Revised March, 2012 3-75 97
- 3.22.1 Function List 98
- 3.22.2 Sample Application 99
- 3-78 Revised March, 2012 100
- Revised March, 2012 3-79 101
- 3-80 Revised March, 2012 102
- Revised March, 2012 3-81 103
- 3-82 Revised March, 2012 104
- 3.23.1 Function List 105
- 3.23.2 Sample Application 105
- 3-84 Revised March, 2012 106
- Revised March, 2012 3-85 107
- 3-86 Revised March, 2012 108
- 3.24.1 Function List 109
- 3.24.2 Sample Application 109
- 3-88 Revised March, 2012 110
- Revised March, 2012 3-89 111
- 3.25.1 Function List 112
- 3.25.2 Sample Application 112
- Revised March, 2012 3-91 113
- 3-92 Revised March, 2012 114
- Revised March, 2012 3-93 115
- 3.26.1 Function List 116
- 3.26.2 Sample Application 117
- 3-96 Revised March, 2012 118
- Revised March, 2012 3-97 119
- 3-98 Revised March, 2012 120
- Revised March, 2012 3-99 121
- 3.27.1 Function List 122
- 3.27.2 Sample Application 123
- 3-102 Revised March, 2012 124
- Revised March, 2012 3-103 125
- 3-104 Revised March, 2012 126
- Revised March, 2012 3-105 127
- 3.28.1 Function List 128
- 3.28.2 Sample Application 128
- Revised March, 2012 3-107 129
- 3-108 Revised March, 2012 130
- Revised March, 2012 3-109 131
- 3-110 Revised March, 2012 132
- 3.29.1 Function List 133
- 3.29.2 Sample Application 134
- Revised March, 2012 3-113 135
- 3-114 Revised March, 2012 136
- Revised March, 2012 3-115 137
- 3.30.1 Function List 138
- 3.30.2 Sample Application 138
- Revised March, 2012 3-117 139
- 4) Exit procedure 140
- 3.31.1 Function List 141
- 3.31.2 Sample Application 141
- 3-120 Revised March, 2012 142
- Revised March, 2012 3-121 143
- 3.32.1 Function List 144
- 3.32.2 Sample Application 144
- Revised March, 2012 3-123 145
- 3-124 Revised March, 2012 146
- Revised March, 2012 3-125 147
- 3-126 Revised March, 2012 148
- Revised March, 2012 3-127 149
- 3-128 Revised March, 2012 150
- Revised March, 2012 3-129 151
- 3.33.1 Function List 152
- 3.33.2 Sample Application 152
- Revised March, 2012 3-131 153
- 3-132 Revised March, 2012 154
- Chapter 4 Control API 155
- 4.2 Function Description 156
- Revised March, 2012 4-3 157
- 4-4 Revised March, 2012 158
- Revised March, 2012 4-5 159
- 4-6 Revised March, 2012 160
- Revised March, 2012 4-7 161
- 4-8 Revised March, 2012 162
- Revised March, 2012 4-9 163
- 4-10 Revised March, 2012 164
- Revised March, 2012 4-11 165
- 4-12 Revised March, 2012 166
- Revised March, 2012 4-13 167
- 4-14 Revised March, 2012 168
- Revised March, 2012 5-1 169
- 5.1 _DMC_01_open 170
- 5.2 _DMC_01_close 170
- 5.3 _DMC_01_get_CardNo_seq 171
- 5.4 _DMC_01_pci_initial 172
- 5.5 _DMC_01_get_card_version 172
- Chapter 6 Interface API 173
- 6.1 _DMC_01_initial_bus 174
- 6.2 _DMC_01_start_ring 174
- 6.3 _DMC_01_get_device_table 175
- 6.4 _DMC_01_get_node_table 175
- 6.6 _DMC_01_reset_card 176
- 6.7 _DMC_01_check_nodeno 177
- 6-6 Revised March, 2012 178
- 6.10 _DMC_01_get_mailbox_cnt 179
- 6.11 _DMC_01_get_dsp_cnt 179
- 6.12 _DMC_01_set_dio_output 180
- 6.13 _DMC_01_get_dio_output 180
- 6.14 _DMC_01_get_dio_input 181
- 6.15 _DMC_01_get_cycle_time 181
- 6.16 _DMC_01_initial_bus2 182
- 6.17 _DMC_01_motion_cnt 182
- Read/Write API 183
- 7-2 Revised March, 2012 184
- Revised March, 2012 7-3 185
- 7-4 Revised March, 2012 186
- Revised March, 2012 8-1 187
- 8.1 CANopen SDO protocol 188
- Revised March, 2012 8-3 189
- 8-4 Revised March, 2012 190
- Revised March, 2012 8-5 191
- 8-6 Revised March, 2012 192
- 8.3 _DMC_01_get_canopen_ret 193
- 8.4 _DMC_01_set_pdo_mode 194
- 8.5 _DMC_01_send_message 195
- 8.6 _DMC_01_send_message3 196
- 8.7 _DMC_01_read_message 197
- 8.8 _DMC_01_read_message2 198
- 8.9 _DMC_01_get_message 199
- 8.10 _DMC_01_reset_sdo_choke 200
- Control Packet Protocol API 201
- 9-2 Revised March, 2012 202
- Revised March, 2012 9-3 203
- 9-4 Revised March, 2012 204
- Revised March, 2012 9-5 205
- 9-6 Revised March, 2012 206
- Packet Protocol API 207
- 10.1 _DMC_01_set_home_config 208
- Revised March, 2012 10-3 209
- 10-4 Revised March, 2012 210
- Revised March, 2012 10-5 211
- 10-6 Revised March, 2012 212
- 10.2 _DMC_01_set_home_move 213
- 10-8 Revised March, 2012 214
- 11-2 Revised March, 2012 216
- 11.2 _DMC_01_set_velocity 217
- 11-4 Revised March, 2012 218
- Revised March, 2012 11-5 219
- 11-6 Revised March, 2012 220
- 12.1 _DMC_01_set_torque_mode 222
- 12.2 _DMC_01_set_torque 223
- 12.3 _DMC_01_set_torque_stop 224
- Revised March, 2012 12-5 225
- 12-6 Revised March, 2012 226
- Revised March, 2012 13-1 227
- 13.1 _DMC_01_ipo_set_svon 228
- Revised March, 2012 13-3 229
- 13-4 Revised March, 2012 230
- 13.4 _DMC_01_buf_dwell 231
- 13.5 _DMC_01_set_group 232
- Revised March, 2012 14-1 233
- 14.1 _DMC_01_emg_stop 234
- 14.2 _DMC_01_sd_stop 235
- 14.3 _DMC_01_sd_abort 236
- 14.4 _DMC_01_set_sd_mode 237
- 14-6 Revised March, 2012 238
- Revised March, 2012 15-1 239
- 15.1 _DMC_01_motion_done 240
- 15.2 _DMC_01_motion_status 241
- 15-4 Revised March, 2012 242
- Revised March, 2012 16-1 243
- 16.1 _DMC_01_get_command 244
- 16.2 _DMC_01_set_command 244
- 16.3 _DMC_01_get_position 245
- 16.4 _DMC_01_set_position 245
- 16.5 _DMC_01_get_target_pos 246
- 16.6 _DMC_01_get_torque 247
- 16-6 Revised March, 2012 248
- Revised March, 2012 16-7 249
- 16-8 Revised March, 2012 250
- Revised March, 2012 17-1 251
- 17.1 _DMC_01_set_soft_limit 252
- Revised March, 2012 17-3 253
- 17-4 Revised March, 2012 254
- Revised March, 2012 18-1 255
- 18.1 _DMC_01_start_tr_move 256
- 18.2 _DMC_01_start_sr_move 257
- 18.3 _DMC_01_start_ta_move 258
- 18.4 _DMC_01_start_sa_move 259
- 18.5 _DMC_01_p_change 260
- 18.6 _DMC_01_v_change 261
- 18-8 Revised March, 2012 262
- Revised March, 2012 18-9 263
- 18-10 Revised March, 2012 264
- Revised March, 2012 18-11 265
- 18-12 Revised March, 2012 266
- Revised March, 2012 18-13 267
- 18-14 Revised March, 2012 268
- Revised March, 2012 18-15 269
- 18-16 Revised March, 2012 270
- Revised March, 2012 18-17 271
- 18-18 Revised March, 2012 272
- Revised March, 2012 18-19 273
- 18-20 Revised March, 2012 274
- 18.16 _DMC_01_start_v3_move 275
- 18-22 Revised March, 2012 276
- Chapter 19 2-Axis Linear 277
- 19-2 Revised March, 2012 278
- Revised March, 2012 19-3 279
- 19-4 Revised March, 2012 280
- Revised March, 2012 19-5 281
- 19-6 Revised March, 2012 282
- Revised March, 2012 19-7 283
- 19-8 Revised March, 2012 284
- Revised March, 2012 19-9 285
- 19-10 Revised March, 2012 286
- Revised March, 2012 19-11 287
- 19-12 Revised March, 2012 288
- Motion Control API 289
- 20-2 Revised March, 2012 290
- 20.1 _DMC_01_start_tr_arc_xy 291
- 20-4 Revised March, 2012 292
- 20.2 _DMC_01_start_sr_arc_xy 293
- 20-6 Revised March, 2012 294
- 20.3 _DMC_01_start_ta_arc_xy 295
- 20-8 Revised March, 2012 296
- 20.4 _DMC_01_start_sa_arc_xy 297
- 20-10 Revised March, 2012 298
- Revised March, 2012 20-11 299
- 20-12 Revised March, 2012 300
- Revised March, 2012 20-13 301
- 20-14 Revised March, 2012 302
- Revised March, 2012 20-15 303
- 20-16 Revised March, 2012 304
- Revised March, 2012 20-17 305
- 20-18 Revised March, 2012 306
- Revised March, 2012 20-19 307
- 20-20 Revised March, 2012 308
- Revised March, 2012 20-21 309
- 20-22 Revised March, 2012 310
- Revised March, 2012 20-23 311
- 20-24 Revised March, 2012 312
- Revised March, 2012 20-25 313
- 20-26 Revised March, 2012 314
- Revised March, 2012 20-27 315
- 20-28 Revised March, 2012 316
- Revised March, 2012 20-29 317
- 20-30 Revised March, 2012 318
- Revised March, 2012 20-31 319
- 20-32 Revised March, 2012 320
- Revised March, 2012 20-33 321
- 20-34 Revised March, 2012 322
- Revised March, 2012 20-35 323
- 20-36 Revised March, 2012 324
- Revised March, 2012 20-37 325
- 20-38 Revised March, 2012 326
- Revised March, 2012 20-39 327
- 20-40 Revised March, 2012 328
- Chapter 21 3-Axis Linear 329
- 21-2 Revised March, 2012 330
- Revised March, 2012 21-3 331
- 21-4 Revised March, 2012 332
- Revised March, 2012 21-5 333
- 21-6 Revised March, 2012 334
- Revised March, 2012 21-7 335
- 21-8 Revised March, 2012 336
- 22-2 Revised March, 2012 338
- Revised March, 2012 22-3 339
- 22-4 Revised March, 2012 340
- Revised March, 2012 22-5 341
- 22-6 Revised March, 2012 342
- Revised March, 2012 22-7 343
- 22-8 Revised March, 2012 344
- Revised March, 2012 22-9 345
- 22-10 Revised March, 2012 346
- Revised March, 2012 22-11 347
- 22-12 Revised March, 2012 348
- Revised March, 2012 23-1 349
- 23.1 _DMC_01_tv_move 350
- 23.2 _DMC_01_sv_move 351
- 23-4 Revised March, 2012 352
- Control API 353
- 24.1 _DMC_01_sync_move 354
- Revised March, 2012 25-1 355
- 25-2 Revised March, 2012 356
- Revised March, 2012 25-3 357
- 25-4 Revised March, 2012 358
- Revised March, 2012 25-5 359
- 25-6 Revised March, 2012 360
- Revised March, 2012 25-7 361
- 25-8 Revised March, 2012 362
- Revised March, 2012 25-9 363
- 25-10 Revised March, 2012 364
- Revised March, 2012 26-1 365
- 26-2 Revised March, 2012 366
- Revised March, 2012 26-3 367
- 26-4 Revised March, 2012 368
- Revised March, 2012 26-5 369
- 26-6 Revised March, 2012 370
- Revised March, 2012 27-1 371
- 27-2 Revised March, 2012 372
- Revised March, 2012 27-3 373
- 27-4 Revised March, 2012 374
- 27.4 _DMC_01_set_rm_04pi_DO2 375
- 27-6 Revised March, 2012 376
- Revised March, 2012 27-7 377
- 27-8 Revised March, 2012 378
- (Mode 1) Motion Control API 379
- 28-2 Revised March, 2012 380
- Revised March, 2012 28-3 381
- 28-4 Revised March, 2012 382
- Revised March, 2012 28-5 383
- 28-6 Revised March, 2012 384
- Revised March, 2012 28-7 385
- 28-8 Revised March, 2012 386
- Revised March, 2012 28-9 387
- 28-10 Revised March, 2012 388
- Revised March, 2012 28-11 389
- 28-12 Revised March, 2012 390
- Revised March, 2012 28-13 391
- 28-14 Revised March, 2012 392
- Revised March, 2012 28-15 393
- 28-16 Revised March, 2012 394
- Revised March, 2012 28-17 395
- 28-18 Revised March, 2012 396
- Revised March, 2012 28-19 397
- 28-20 Revised March, 2012 398
- Revised March, 2012 28-21 399
- 28-22 Revised March, 2012 400
- Revised March, 2012 28-23 401
- 28-24 Revised March, 2012 402
- Revised March, 2012 28-25 403
- 28-26 Revised March, 2012 404
- Revised March, 2012 28-27 405
- 28-28 Revised March, 2012 406
- Remote I/O Module API 407
- 29-2 Revised March, 2012 408
- Revised March, 2012 29-3 409
- 29-4 Revised March, 2012 410
- Revised March, 2012 29-5 411
- 29-6 Revised March, 2012 412
- Revised March, 2012 29-7 413
- 29-8 Revised March, 2012 414
- Revised March, 2012 29-9 415
- 29-10 Revised March, 2012 416
- Revised March, 2012 29-11 417
- 29-12 Revised March, 2012 418
- 30-2 Revised March, 2012 420
- Revised March, 2012 30-3 421
- 30-4 Revised March, 2012 422
- Revised March, 2012 30-5 423
- 30-6 Revised March, 2012 424
- Revised March, 2012 30-7 425
- 30-8 Revised March, 2012 426
- Revised March, 2012 30-9 427
- 30.9 _DMC_01_get_04ad_data 428
- Revised March, 2012 30-11 429
- 30-12 Revised March, 2012 430
- Revised March, 2012 30-13 431
- 30-14 Revised March, 2012 432
- Chapter 31 Slave Data API 433
- 31.1 _DMC_01_get_devicetype 434
- Revised March, 2012 31-3 435
- 31-4 Revised March, 2012 436
- Revised March, 2012 32-1 437
- 32.1 _DMC_01_set_monitor 438
- Revised March, 2012 32-3 439
- 32-4 Revised March, 2012 440
- 32.2 _DMC_01_get_monitor 441
- 32-6 Revised March, 2012 442
- 32.4 _DMC_01_get_servo_DI 443
- 32.5 _DMC_01_get_servo_DO 444
- Revised March, 2012 33-1 445
- 33.1 _DMC_01_set_ralm 446
- 33.2 _DMC_01_get_alm_code 447
- 33.3 _DMC_01_master_alm_code 448
- 33.4 _DMC_01_slave_error 449
- 33-6 Revised March, 2012 450
- Revised March, 2012 34-1 451
- 34.1 _DMC_01_multi_axes_move 452
- Revised March, 2012 34-3 453
- 34-4 Revised March, 2012 454
- Revised March, 2012 34-5 455
- 34-6 Revised March, 2012 456
- Table 35.1 457
- Function Name Description 457
- 35-2 Revised March, 2012 458
- Chapter 36 Interrupt API 459
- 36.1 _DMC_01_ set_int_factor 460
- 36.2 _DMC_01_ int_enable 461
- 36.3 _DMC_01_ int_disable 461
- 36.4 _DMC_01_ get_int_count 462
- 36.5 _DMC_01_ get_int_status 463
- 36.6 _DMC_01_link_ interrupt 464
- Chapter 37 Security API 465
- 37.1 _DMC_01_ read_security 466
- 37.3 _DMC_01_write_security 467
- 37-4 Revised March, 2012 468
- 37.7 _DMC_01_check_verifykey 469
- 37.8 _DMC_01_write_verifykey 469
- 37.9 _DMC_01_ read_serialno 470
- Revised March, 2012 37-7 471
- 37-8 Revised March, 2012 472
- Revised March, 2012 37-9 473
- 37.13 _misc_security 474
- Revised March, 2012 37-11 475
- 37-12 Revised March, 2012 476
- Revised March, 2012 37-13 477
- 37-14 Revised March, 2012 478
- Revised March, 2012 37-15 479
- 37-16 Revised March, 2012 480
- Revised March, 2012 38-1 481
- 38-2 Revised March, 2012 482
- Revised March, 2012 38-3 483
- 38-4 Revised March, 2012 484
- Revised March, 2012 38-5 485
- 38-6 Revised March, 2012 486
- Chapter 39 Compare API 487
- 39-2 Revised March, 2012 488
- Revised March, 2012 39-3 489
- 39-4 Revised March, 2012 490
- Revised March, 2012 39-5 491
- 39-6 Revised March, 2012 492
- Revised March, 2012 39-7 493
- 39-8 Revised March, 2012 494
- Revised March, 2012 39-9 495
- 39-10 Revised March, 2012 496
- Revised March, 2012 39-11 497
- 39-12 Revised March, 2012 498
- Revised March, 2012 39-13 499
- 39-14 Revised March, 2012 500
- Revised March, 2012 39-15 501
- 39-16 Revised March, 2012 502
- Revised March, 2012 39-17 503
- 39-18 Revised March, 2012 504
- Revised March, 2012 39-19 505
- 39-20 Revised March, 2012 506
- Chapter 40 Linear and Arc 507
- 40.1 _DMC_01_start_rline_xy 508
- Revised March, 2012 40-3 509
- 40.2 _DMC_01_start_rline_xyz 510
- Revised March, 2012 40-5 511
- 40-6 Revised March, 2012 512
- Revised March, 2012 40-7 513
- 40-8 Revised March, 2012 514
- Revised March, 2012 40-9 515
- 40-10 Revised March, 2012 516
- Revised March, 2012 41-1 517
- 41.1 _DMC_01_speed_continue 518
- Revised March, 2012 41-3 519
- 41-4 Revised March, 2012 520
- Revised March, 2012 41-5 521
- 41-6 Revised March, 2012 522
- Chapter 42 Other API 523
- 42-2 Revised March, 2012 524
- Revised March, 2012 42-3 525
- 42-4 Revised March, 2012 526
- 42.5 _DMC_01_enable_dda_mode 527
- 42.6 _DMC_01_set_dda_data 528
- 42.7 _DMC_01_get_dda_cnt 528
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