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

Page 350

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Chapter 23 Velocity Motion Control API | PCI-DMC-A01 / PCI-DMC-B01

23-2

Revised March, 2012

23.1 _DMC_01_tv_move

FORMAT

I16 PASCAL _DMC_01_tv_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 StrVel,
I32 MaxVel, F64 Tacc,I16 Dir)


Purpose

Velocity motion control with T-curve velocity cross-section.


Parameters

Name

Data Type

Unit

Description

CardNo U16

Number

Unit

CardNo is between 0~15

NodeID

U16

Number Unit

Node ID

SlotID

U16

Number Unit

Slot ID

StrVel

I32

Pulses per

second

Starting velocity parameter

MaxVel I32

Pulses per

second

Maximum velocity parameter

Tacc

F64

Second

Specified acceleration time

Dir I16

Selection

0: In positive direction
1: In negative direction


Description

Figure. 23.1 Illustration of trapezoidal motion speed constant


Example

U16 CardNo=0, NodeID=1, SlotID=0, PDO_enable=1;
I32 StrVel=100, MaxVel=5000;
F64 Tacc=0.1;
I16 Dir =1;
I16 status= _DMC_01_tv_move(CardNo, NodeID, SlotID, StrVel, MaxVel, Tacc, Dir);
//Velocity motion control under PDO mode

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