Delta Electronics PCI-DMC-A01 Programming Manual page 307

Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
20.9 _DMC_01_start_tr_arc3_xy
 FORMAT
I16 PASCAL _DMC_01_start_tr_arc3_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y,I32 End_X,I32 End_Y, I16 Dir, I32 StrVel, I32 MaxVel, F64 Tacc,
F64 Tdec)
 Purpose
2-axis arc interpolation motion using relative coordinates with T-curve velocity cross-section
(Known conditions: center point coordinates, endpoint coordinates).
 Parameters
Name Data Type
CardNo
NodeIDArray
SlotID
Center_X
Center_Y
End_x
End_y
Dir
StrVel
MaxVel
Tacc
Tdec
Revised March, 2012
Unit
U16 Number Unit
U16* Number Unit
U16* Number Unit
Number of
I32
pulses
Number of
I32
pulses
Number of
I32
pulses
Number of
I32
pulses
I16 Selection
Pulses per
I32
second
Pulses per
I32
second
F64 Second
F64 Second
Description
Node ID of card used for motion displacement
along X-axis and Y-axis
Holds Node ID sets used for arc interpolation
NodeIDArray[0] holds the 1st set of Node ID
NodeIDArray[1] holds the 2nd set of Node ID
Slot ID
Relative center point X-coordinate on the
specified axis
Relative center point Y-coordinate on the
specified axis
Relative endpoint X-coordinate on the specified
axis
Relative endpoint Y-coordinate on the specified
axis
Specified direction (Clockwise if value is 1;
CCW if value is 0)
Starting velocity parameter
Tangential velocity parameter
Specified acceleration time
Specified deceleration time
20-19