Delta Electronics PCI-DMC-A01 Programming Manual page 334

Chapter 21 3-Axis Linear Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
21.5 _DMC_01_start_v3_move_xyz
 FORMAT
I16 PASCAL _DMC_01_start_v3_move_xyz(U16 CardNo, U16* NodeID,U16* SlotID, I32
DisX, I32 DisY, I32 DisZ, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2,
U16 m_curve,U16 m_r_a)
 Purpose
3-axis linear interpolation motion with EndVel added.
※Values of StrVel and EndVel can be greater than MaxVel.
 Parameters
Name Data Type
CardNo
NodeIDArray
SlotID
DisX
DisY
DisZ
StrVel
ConstVel
EndVel
TPhase1
TPhase2
m_curve
m_r_a
21-6
Unit
U16 Number Unit
U16* Number Unit
U16* Number Unit
Number of
I32
pulses
Number of
I32
pulses
Number of
I32
pulses
Pulses per
I32
second
Pulses per
I32
second
Pulses per
I32
second
F64 Second
F64 Second
U16 Selection
U16 Selection
Description
CardNo is between 0~15
Holds Node ID sets used for linear interpolation
NodeIDArray[0] = Node_1
NodeIDArray[1] = Node_2
NodeIDArray[2] = Node_3
Slot ID
Absolute path parameter for motion of Node
ID on X-axis
Absolute path parameter for motion of Node
ID on Y-axis
Absolute path parameter for motion of Node
ID on Z-axis
Starting velocity parameter
Constant velocity
End velocity
Time from StartVel to ConstVel
Time from ConstVel to EndVel
1¡GT-curve
2¡GS-curve
0: Relative motion displacement
1: Absolute motion displacement
Revised March, 2012