Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual
Page 309
Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012
20-21
20.10 _DMC_01_start_sr_arc3_xy
FORMAT
I16 PASCAL _DMC_01_start_sr_arc3_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y,I32 End_X,I32 End_Y, I16 Dir, I32 StrVel, I32 MaxVel, F64 Tacc,
F64 Tdec)
Purpose
2-axis arc interpolation motion using relative coordinates with S-curve velocity cross-section
(Known conditions: center point coordinates, endpoint coordinates).
Parameters
Name
Data Type
Unit
Description
CardNo U16
Number
Unit
Node ID of card used for motion displacement
along X-axis and Y-axis
NodeIDArray
U16*
Number Unit
Holds Node ID sets used for arc interpolation
NodeIDArray[0] holds the 1st set of Node ID
NodeIDArray[1] holds the 2nd set of Node ID
SlotID
U16*
Number Unit
Slot ID
Center_X
I32
Number of pulses
Relative center point X-coordinate on the
specified axis
Center_Y I32
Number
of
pulses
Relative center point Y-coordinate on the
specified axis
End_x
I32
Number of pulses
Relative endpoint X-coordinate on the specified
axis
End_y I32
Number
of
pulses
Relative endpoint Y-coordinate on the specified
axis
Dir
I16
Selection
Specified direction (Clockwise if value is 1;
CCW if value is 0)
StrVel I32
Pulses per
second
Starting velocity parameter
MaxVel
I32
Pulses per
second
Tangential velocity parameter
Tacc F64
Second
Specified
acceleration
time
Tdec
F64
Second
Specified deceleration time