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

Page 455

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Chapter 34 Multi-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01

Revised March, 2012

34-5

34.3 _DMC_01_start_v3_multi_axes

FORMAT

I16 PASCAL _DMC_01_start_v3_multi_axes(U16 CardNo,U16 AxisNum, U16* NodeID, U16*
SlotID, I32 *DistArrary, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2,
U16 m_curve,U16 m_r_a)


Purpose

Multi-axis (more than 2 axes) motion control with added EndVel.
※Values of StrVel and EndVel can be greater than MaxVel.


Parameters

Name

Data Type

Unit

Description

CardNo U16

Number

Unit

CardNo is between 0~15

AxisNum

U16

Number Unit

Axis ID

NodeID

U16*

Number Unit

Node ID

SlotID

U16*

Number Unit

Slot ID

DistArrary I32*

Number of

pulses array

Motion to be executed by each axis

StrVel

I32

Pulses per

second

Starting velocity

ConstVel I32

Pulses per

second

Constant velocity

EndVel

I32

Pulses per

second

End velocity

TPhase1 F64 Second

Time

from StartVel to ConstVel

TPhase2

F64

Second

Time from ConstVel to EndVel

m_curve U16

Selection

1: T-curve
2: S-curve

m_r_a

U16

Selection

0: Relative motion displacement
1: Absolute motion displacement

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