Delta Electronics PCI-DMC-A01 Programming Manual page 510

Chapter 40 Linear and Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
40.2 _DMC_01_start_rline_xyz
 FORMAT
I16 PASCAL _DMC_01_start_rline_xyz (U16 CardNo, U16* NodeID, U16* SlotID,
I32 pos1_x, I32 pos1_y, I32pos1_z, I32 pos2_x, I32 pos2_y, pos2_z, U16 mode,
F64 param, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve, U16 m_r_a)
 Purpose
3-axis linear, arc R-angle interpolation motion control
 Parameters
Name Data Type
CardNo
NodeID
SlotID
Pos1_x
Pos1_y
Pos1_z
Pos2_x
Pos2_y
Pos2_z
Mode
Param
StrVel
MaxVel
Tacc
Tdec
m_curve
m_r_a
40-4
Unit
U16 Number Unit
U16* Number Unit
U16* Number Unit
I32 Number Unit
I32 Number Unit
I32 Number Unit
I32 Number Unit
I32 Number Unit
Pulses per
I32
second
U16 Selection
F64 Number Unit
Pulses per
I32
second
Pulses per
I32
second
F64 Second
F64 Second
U16 Selection
U16 Selection
Description
CardNo is between 0~15
Node ID
Slot ID
X-coordinate of first position
Y-coordinate of first position
Z-coordinate of first position
X-coordinate of second position
Y-coordinate of second position
Z-coordinate of second position
0: Perpendicular distance from arc to right angle
(AB)
1: Perpendicular distance from start of arc to
right angle (AB)
2: Arc radius (AB)
Relative mode distance
Starting velocity
Maximum velocity
Specified acceleration time
Specified deceleration time
1: T-curve
2: S-curve
0: Relative motion displacement
1: Absolute motion displacement
Revised March, 2012