Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual
Page 386

Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
28-8
Revised March, 2012
28.4 _DMC_01_rm_04pi_md1_start_line3
FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_start_line3(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 3-axis linear interpolation 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
SlotID[0] holds first set of Slot ID
SlotID[1] holds second set of Slot ID
SlotID[2] holds third set of Slot ID
Dist
I32*
Number of
pulses
Path parameter corresponding to SlotID[0]
motion
Path parameter corresponding to SlotID[1]
motion
Path parameter corresponding to SlotID[2]
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