Delta Electronics PCI-DMC-A01 Programming Manual page 319

Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
20.15 _DMC_01_start_v3_arc_xy
 FORMAT
I16 PASCAL _DMC_01_start_v3_arc_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, F64 Angle, I32 StrVel, I32ConstVel, I32 EndVel, F64 TPhase1,
F64 TPhase2, U16 m_curve, U16 m_r_a)
 Purpose
2-axis arc interpolation motion with EndVel added (Known conditions: center point coordinates,
angle).
※Values of StrVel and EndVel can be greater than MaxVel.
 Parameters
Name Data Type
CardNo
NodeIDArray
SlotID
Center_X
Center_Y
Angle
StrVel
ConstVel
EndVel
TPhase1
TPhase2
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
F64 Degree (°)
Pulses per
I32
second
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 arc interpolation
NodeIDArray[0] holds the 1st set of Node ID
NodeIDArray[1] holds the 2nd set of Node ID
Slot ID
Absolute center point X-coordinate on the
specified axis
Absolute center point Y-coordinate on the
specified axis
Set arc angle. One full arc is 360
Starting velocity parameter
Constant velocity
End velocity
Time from StartVel to ConstVel
Time from ConstVel to EndVel
1: T-curve
2: S-curve
0: Relative motion displacement
1: Absolute motion displacement
o
20-31