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

Page 344

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Chapter 22 3-Axis Spiral Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01

22-8

Revised March, 2012

22.4 _DMC_01_start_sa_heli_xy

FORMAT

I16 PASCAL _DMC_01_start_sa_heli_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, I32 Depth, I32 Pitch, I16 Dir, I32 StrVel, I32 MaxVel, F64 Tacc,
F64 Tdec)


Purpose

3-axis Spiral interpolation motion using absolute coordinates with S-curve velocity
cross-section.


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 spiral interpolation
NodeIDArray[0] = Node_1
NodeIDArray[1] = Node_2
NodeIDArray[2] = Node_3

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

Depth

I32

Number of

pulses

Absolute depth to position on specified axis
(height in direction of Z)

Pitch I32

Number of

pulses

Absolute height between two spirals

Dir

I16

Selection

Direction of spiral arc motion. Clockwise: 1 ;
Counterclockwise: 0

StrVel I32

Pulses per

second

Starting velocity parameter

MaxVel

I32

Pulses per

second

Maximum velocity parameter

Tacc F64

Second

Specified

acceleration

time

Tdec

F64

Second

Specified deceleration time

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