Delta Electronics PCI-DMC-A01 Programming Manual page 315

Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
20.13 _DMC_01_start_spiral_xy
 FORMAT
I16 PASCAL _DMC_01_start_spiral_xy (U16 CardNo, U16* NodeID, U16* SlotID,
I32 Center_X, I32 Center_Y, I32 spiral_interval, I32 spiral_angle, I32 StrVel, I32 MaxVel,
F64 Tacc, F64 Tdec,U16 m_curve,U16 m_r_a)
 Purpose
Carries out 2-axis spiral motion (Known conditions: center coordinates for X and Y axes).
 Parameters
Name Data Type
CardNo
NodeID
SlotID
Center_X
Center_Y
spiral_interval
spiral_angle
StrVel
MaxVel
Tacc
Tdec
m_curve
m_r_a
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
I32 Number
Pulses per
I32
second
Pulses per
I32
second
F64 Second
F64 Second
U16 Selection
U16 Selection
Description
Node ID of card used for motion displacement
along X-axis and Y-axis
Holds Node ID sets used for carrying out spiral
motion
NodeID[0] holds 1st set of Node ID
NodeID[1] holds 2nd set of Node ID
Slot ID
Center X-coordinate on specified axis
Center Y-coordinate on specified axis
Relative distance between spirals
Total angle of spiral motion (one revolution is
360 degrees)
Starting velocity parameter
Tangential velocity parameter
Specified acceleration time
Specified deceleration time
1: T-curve
2: S-curve
0: Relative motion displacement
1: Absolute motion displacement
20-27