Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual
Page 392

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