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

Page 394

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

28-16

Revised March, 2012

28.8 _DMC_01_rm_04pi_md1_start_arc3

FORMAT

I16 PASCAL _DMC_01_rm_04pi_md1_start_arc3(U16 CardNo, U16 NodeID,U16* SlotID,
I32* Center,I32* End, I16 dir, 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:
center point coordinates, endpoint coordinates)
※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

Center

I32*

Number of

pulses

Center[0] holds first set of center point
coordinates
Center[1] holds second set of center point
coordinates

End I32*

Number of

pulses

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

dir

I16

Selection

Specified direction (Clockwise if value is 1;
CCW if value is 0)

StrVel I32

Pulses per

second

Starting velocity parameter

MaxVel

I32

Pulses per

second

Tangential 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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