Delta Electronics PCI-DMC-A01 Programming Manual page 515

Chapter 40 Linear and Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
40.4 _DMC_01_start_v3_rline_xyz
 FORMAT
I16 PASCAL _DMC_01_start_v3_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 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 m_curve,
U16 m_r_a)
 Purpose
3-axis linear, arc interpolation motion control with added EndVel.
※Values of StrVel and EndVel can be greater than MaxVel.
 Parameters
Name Data Type
CardNo
NodeID
SlotID
Pos1_x
Pos1_y
Pos1_z
Pos2_x
Pos2_y
Pos2_z
Mode
Param
StrVel
ConstVel
EndVel
TPhase1
TPhase2
m_curve
m_r_a
Revised March, 2012
U16 Number Unit
U16* Number Unit
U16* Number Unit
I32 Number Unit
I32 Number Unit
I32 Number Unit
I32 Number Unit
I32 Number Unit
I32 Pulses per second
U16 Selection
F64 Number Unit
I32 Pulses per second
I32 Pulses per second
I32 Pulses per second
F64 Second
F64 Second
U16 Selection
U16 Selection
Unit
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
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
Description
40-9