Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual
Page 317
Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012
20-29
20.14 _DMC_01_start_spiral2_xy
FORMAT
I16 PASCAL _DMC_01_start_spiral2_xy (U16 CardNo, U16* NodeID, U16* SlotID,
I32 center_x, I32 center_y, I32 end_x, I32 end_y, U16 dir, U16 circlenum, I32 StrVel,
I32 MaxVel, F64 Tacc, F64 Tdec, U16 m_curve, U16 m_r_a)
Purpose
Carries out 2-axis spiral motion (Known conditions: center coordinates for X and Y axes;
endpoint coordinates for X and Y axes).
Parameters
Name
Data Type
Unit
Description
CardNo U16
Number
Unit
Node ID of card used for motion displacement
along X-axis and Y-axis
NodeID
U16*
Number Unit
Holds Node ID sets used for carrying out spiral
motion
NodeID[0] holds 1st set of Node ID
NodeID[1] holds 2nd set of Node ID
SlotID
U16*
Number Unit
Slot ID
center_X
I32
Number of pulses Center X-coordinate on specified axis
center_Y I32
Number
of
pulses Center Y-coordinate on specified axis
end_X
I32
Number of pulses Endpoint X-coordinate on specified axis
end_Y I32
Number
of
pulses Endpoint
Y-coordinate on specified axis
dir
U16
Selection
Direction of spiral arc motion. Clockwise: 1 ;
Counterclockwise: 0
circlenum U16 Number
Number
of circles in spiral motion
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
m_curve
U16
Selection
1: T-curve
2: S-curve
m_r_a U16
Selection
0: Relative motion displacement
1: Absolute motion displacement