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

Page 381

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Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01

Revised March, 2012

28-3

28.1 _DMC_01_rm_04pi_md1_start_move

FORMAT

I16 PASCAL _DMC_01_rm_04pi_md1_start_move(U16 CardNo, U16 NodeID,U16 SlotID,
I32 Dist, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve,U16 m_r_a)


Purpose

Performs 1-axis motion control under RM04PI Mode 1.
※When setting StrVel, make sure its value is smaller than MaxVel.


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

Dist

I32

Number of

pulses

Specified path

StrVel I32

Pulses per

second

Starting velocity

MaxVel

I32

Pulses per

second

Maximum velocity

Tacc F64

Second

Specified

acceleration

time

Tdec

F64

Second

Specified deceleration time

m_curve U16

Selection

1: Referenced against T-curve velocity
cross-section
2: Referenced against S-curve velocity
cross-section

m_r_a

U16

Selection

0: Displacement in relative coordinates
1: Displacement in absolute coordinates

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