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

Page 334

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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

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