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

Page 383

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

Revised March, 2012

28-5

28.2 _DMC_01_rm_04pi_md1_v_move

FORMAT

I16 PASCAL _DMC_01_rm_04pi_md1_v_move(U16 CardNo, U16 NodeID,U16 SlotID,
I32 StrVel, I32 MaxVel, F64 Tacc,I16 dir,U16 m_curve)


Purpose

Performs velocity motion control under RM04PI Mode 1.


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

MaxVel I32

Pulses per

second

Maximum velocity

Tacc

F64

Second

Specified acceleration time

Tdec

F64

Second

Specified deceleration time

dir

I16

Selection

0: Move in positive direction
1: Move in negative direction

m_curve U16

Selection

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


Example

U16 CardNo=0;
U16 NodeID =1;
U16 SlotID = 0;
I32 StrVel = 1000, MaxVel =12800;
F64 Tacc=0.1, Tdec=0.1;
I16 dir = 0; // Direction is positive
U16 m_curve = 1; //Referenced against T-curve velocity cross-section

/* RM04PI MODE1 moving in positive direction */
I16 status= _DMC_01_rm_04pi_md1_v_move (CardNo, NodeID, SlotID, StrVel, MaxVel, Tacc,

Tdec, dir, m_curve);

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