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

Page 392

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

28-14

Revised March, 2012

28.7 _DMC_01_rm_04pi_md1_start_arc2

FORMAT

I16 PASCAL _DMC_01_rm_04pi_md1_start_arc2(U16 CardNo, U16 NodeID,U16* SlotID,
I32* End, F64 Angle, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve,U16 m_r_a)


Purpose

Performs 2-axis arc interpolation motion control under RM04PI Mode 1 (Known conditions:
endpoint coordinates, angle)
※For motion description, please see Chapter 20 “2-Axis Arc 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

End

I32*

Number of

pulses

End[0] holds first set of endpoint coordinates
End[1] holds second set of endpoint
coordinates

Angle

F64

Degree (°)

Set arc angle. One full arc is 360

o

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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