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

Page 512

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Chapter 40 Linear and Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01

40-6

Revised March, 2012

40.3 _DMC_01_start_v3_rline_xy

FORMAT

I16 PASCAL _DMC_01_start_v3_rline_xy (U16 CardNo, U16* NodeID, U16* SlotID,
I32 pos1_x, I32 pos1_y, I32 pos2_x, I32 pos2_y, U16 mode, F64 param, I32 StrVel,
I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 m_curve, U16 m_r_a)


Purpose

2-axis linear, arc interpolation 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

NodeID

U16*

Number Unit

Node ID

SlotID

U16*

Number Unit

Slot ID

Pos1_x

I32

Number Unit

X-coordinate of first position

Pos1_y I32

Number

Unit

Y-coordinate of first position

Pos2_x

I32

Number Unit

X-coordinate of second position

Pos2_y I32

Number

Unit

Y-coordinate of second position

Mode

U16

Selection

0: Perpendicular distance from arc to right angle
(AB)
1: Perpendicular distance from start of arc to
right angle (AB)
2: Arc radius (AB)

Param

F64

Number Unit

Relative mode distance

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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