Delta Electronics PCI-DMC-A01 Programming Manual page 346

Chapter 22 3-Axis Spiral Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
22.5 _DMC_01_start_v3_heli_xy
 FORMAT
I16 PASCAL _DMC_01_start_v3_heli_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, I32 Depth, I32 Pitch, I16 Dir, I32 StrVel, 32 ConstVel, I32 EndVel,
F64 TPhase1, F64 TPhase2, U16 m_curve, U16 m_r_a)
 Purpose
3-axis Spiral interpolation motion with EndVel added.
※Values of StrVel and EndVel can be greater than MaxVel.
 Parameters
Name Data Type
CardNo
NodeIDArray
SlotID
Center_X
Center_Y
Depth
Pitch
Dir
StrVel
ConstVel
EndVel
TPhase1
TPhase2
m_curve
m_r_a
22-10
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
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
Time from StartVel to ConstVel
Time from ConstVel to EndVel
1: T-curve
2: S-curve
0: Relative motion displacement
1: Absolute motion displacement
Revised March, 2012