Delta Electronics PCI-DMC-A01 Programming Manual page 344

Chapter 22 3-Axis Spiral Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
22.4 _DMC_01_start_sa_heli_xy
 FORMAT
I16 PASCAL _DMC_01_start_sa_heli_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, I32 Depth, I32 Pitch, I16 Dir, I32 StrVel, I32 MaxVel, F64 Tacc,
F64 Tdec)
 Purpose
3-axis Spiral interpolation motion using absolute coordinates with S-curve velocity
cross-section.
 Parameters
Name Data Type
CardNo
NodeIDArray
SlotID
Center_X
Center_Y
Depth
Pitch
Dir
StrVel
MaxVel
Tacc
Tdec
22-8
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
CardNo is between 0~15
Holds Node ID sets used for spiral interpolation
NodeIDArray[0] = Node_1
NodeIDArray[1] = Node_2
NodeIDArray[2] = Node_3
Slot ID
Absolute center point X-coordinate on the
specified axis
Absolute center point Y-coordinate on the
specified axis
Absolute depth to position on specified axis
(height in direction of Z)
Absolute height between two spirals
Direction of spiral arc motion. Clockwise: 1 ;
Counterclockwise: 0
Starting velocity parameter
Maximum velocity parameter
Specified acceleration time
Specified deceleration time
Revised March, 2012