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

Page 327

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

Revised March, 2012

20-39

20.19 _DMC_01_start_v3_spiral2_xy

FORMAT

I16 PASCAL _DMC_01_start_v3_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,
32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 m_curve,U16 m_r_a)


Purpose

2-axis spiral motion with EndVel added (Known conditions: center coordinates for X and Y
axes, endpoint coordinates for X and Y axes).
※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

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

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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