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

Page 384

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

28-6

Revised March, 2012

28.3 _DMC_01_rm_04pi_md1_start_line2

FORMAT

I16 PASCAL _DMC_01_rm_04pi_md1_start_line2(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 2-axis linear interpolation motion control under RM04PI Mode 1.

※For motion description, please see Chapter 19 “2-Axis Linear Interpolation Motion Control
API”.


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

SlotID[0] holds first set of Slot ID
SlotID[1] holds second set of Slot ID

Dist

I32*

Number of

pulses

Path parameter corresponding to SlotID[0]
motion
Path parameter corresponding to SlotID[1]
motion

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

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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