Delta Electronics PCI-DMC-A01 Programming Manual page 323

Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
20.17 _DMC_01_start_v3_arc3_xy
 FORMAT
I16 PASCAL _DMC_01_start_v3_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 ConstVel, 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,
endpoint coordinates).
※Values of StrVel and EndVel can be greater than MaxVel.
 Parameters
Name Data Type
CardNo
NodeIDArray
SlotID
Center_X
Center_Y
End_x
End_y
Dir
StrVel
ConstVel
EndVel
TPhase1
TPhase2
m_curve
m_r_a
Revised March, 2012
Unit
U16 Number Unit
U16* Number Unit
U16* Number Unit
I32 Number of pulses
I32 Number of pulses
I32 Number of pulses
I32 Number of pulses
I16 Selection
I32 Pulses per second Starting velocity parameter
I32 Pulses per second Constant velocity
I32 Pulses per second End velocity
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
Absolute endpoint X-coordinate on the
specified axis
Absolute endpoint Y-coordinate on the
specified axis
Specified direction (Clockwise if value is 1;
CCW if value is 0)
Time from StartVel to ConstVel
Time from ConstVel to EndVel
1: T-curve
2: S-curve
0: Relative motion displacement
1: Absolute motion displacement
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