Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual
Page 321

Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012
20-33
20.16 _DMC_01_start_v3_arc2_xy
FORMAT
I16 PASCAL _DMC_01_start_v3_arc2_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 End_X,
I32 End_Y, F64 Angle, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2,
U16 m_curve,U16 m_r_a)
Purpose
2-axis arc interpolation motion with EndVel added (Known conditions: endpoint 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
End_X
I32
Number of
pulses
Absolute endpoint X-coordinate on the
specified axis
End_Y I32
Number of
pulses
Absolute endpoint 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