Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual
Page 350

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