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

Page 396

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

28-18

Revised March, 2012

28.9 _DMC_01_rm_04pi_md1_start_heli

FORMAT

I16 PASCAL _DMC_01_rm_04pi_md1_start_heli(U16 CardNo, U16 NodeID,U16* SlotID,
I32* Center,I32 Depth, I32 Pitch, I16 dir, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,
U16 m_curve,U16 m_r_a)


Purpose

Performs 3-axis spiral interpolation motion control under RM04PI Mode 1.

For motion description, please see Chapter 22 “3-Axis Spiral 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
SlotID[2] holds third 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
Center[2] holds third set of center point coordinates

Depth I32

Number

of

pulses

Relative depth to position on specified axis (height
in direction of Z)

Pitch

I32

Number of pulses Relative height between two spirals

dir I16

Selection

Direction of spiral arc motion. Clockwise: 1;
Counterclockwise: 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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