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Chapter 18 1-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 18-3
18.2 _DMC_01_start_sr_move
FORMAT
I16 PASCAL _DMC_01_start_sr_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 Dist,
I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec)
Purpose
Motion displacement using relative coordinates with S-curve velocity cross-section. Please
see Fig. 18.2 for more detailed information.
Parameters
Name Data Type Unit Description
CardNo U16 Number Unit CardNo is between 0~15
NodeID U16 Number Unit Node ID
SlotID U16 Number Unit Slot ID
Dist I32 Number of pulses Specified distance in relative coordinates
StrVel I32 Pulses per second Starting velocity
MaxVel I32 Pulses per second Maximum velocity
Tacc F64 Second Specified acceleration time
Tdec F64 Second Specified deceleration time
Description
Figure 18.2 Motion displacement using relative coordinates with S-curve velocity cross-section
Example
U16 CardNo=0, NodeID =1, SlotID=0;
I32 Dist=100000, StrVel=0, MaxVel=30000;
F64 Tacc=0.1, Tdec=0.1;
I16 status= _DMC_01_start_sr _move (CardNo, NodeID, SlotID, Dist, StrVel, MaxVel, Tacc,
Tdec);