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Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual

Page 317

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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

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