Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual
Page 334

Chapter 21 3-Axis Linear Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
21-6
Revised March, 2012
21.5 _DMC_01_start_v3_move_xyz
FORMAT
I16 PASCAL _DMC_01_start_v3_move_xyz(U16 CardNo, U16* NodeID,U16* SlotID, I32
DisX, I32 DisY, I32 DisZ, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2,
U16 m_curve,U16 m_r_a)
Purpose
3-axis linear interpolation motion with EndVel added.
※Values of StrVel and EndVel can be greater than MaxVel.
Parameters
Name
Data Type
Unit
Description
CardNo U16
Number
Unit
CardNo is between 0~15
NodeIDArray
U16*
Number Unit
Holds Node ID sets used for linear interpolation
NodeIDArray[0] = Node_1
NodeIDArray[1] = Node_2
NodeIDArray[2] = Node_3
SlotID
U16*
Number Unit
Slot ID
DisX
I32
Number of
pulses
Absolute path parameter for motion of Node
ID on X-axis
DisY I32
Number of
pulses
Absolute path parameter for motion of Node
ID on Y-axis
DisZ
I32
Number of
pulses
Absolute path parameter for motion of Node
ID on Z-axis
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¡GT-curve
2¡GS-curve
m_r_a U16
Selection
0: Relative motion displacement
1: Absolute motion displacement