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

Page 319

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Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01

Revised March, 2012

20-31

20.15 _DMC_01_start_v3_arc_xy

FORMAT

I16 PASCAL _DMC_01_start_v3_arc_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, F64 Angle, I32 StrVel, I32ConstVel, I32 EndVel, F64 TPhase1,
F64 TPhase2, U16 m_curve, U16 m_r_a)


Purpose

2-axis arc interpolation motion with EndVel added (Known conditions: center point coordinates,
angle).
※Values of StrVel and EndVel can be greater than MaxVel.


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

Absolute center point X-coordinate on the
specified axis

Center_Y I32

Number of

pulses

Absolute center point Y-coordinate on the
specified axis

Angle

F64

Degree (°)

Set arc angle. One full arc is 360

o

StrVel I32

Pulses per

second

Starting velocity parameter

ConstVel

I32

Pulses per

second

Constant velocity

EndVel I32

Pulses per

second

End velocity

TPhase1

F64

Second

Time from StartVel to ConstVel

TPhase2

F64

Second

Time from ConstVel to EndVel

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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