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Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 20-33
20.16 _DMC_01_start_v3_arc2_xy
FORMAT
I16 PASCAL _DMC_01_start_v3_arc2_xy(U16 CardNo, U16* NodeID,U16* SlotID, I32 End_X,
I32 End_Y, F64 Angle, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2,
U16 m_curve,U16 m_r_a)
Purpose
2-axis arc interpolation motion with EndVel added (Known conditions: endpoint coordinates,
angle).
※Values of StrVel and EndVel can be greater than MaxVel.
Parameters
Name Data Type Unit Description
CardNo U16 Number Unit
Node ID of card used for motion displacement
along X-axis and Y-axis
NodeIDArray U16* Number Unit
Holds Node ID sets used for arc interpolation
NodeIDArray[0] holds the 1st set of Node ID
NodeIDArray[1] holds the 2nd set of Node ID
SlotID U16* Number Unit Slot ID
End_X I32
Number of
pulses
Absolute endpoint X-coordinate on the
specified axis
End_Y I32
Number of
pulses
Absolute endpoint Y-coordinate on the
specified axis
Angle F64 Degree (°) Set arc angle. One full arc is 360
o
StrVel I32
Pulses per
second
Starting velocity parameter
ConstVel I32
Pulses per
second
Constant velocity
EndVel I32
Pulses per
second
End velocity
TPhase1 F64 Second Time from StartVel to ConstVel
TPhase2 F64 Second Time from ConstVel to EndVel
m_curve U16 Selection
1: T-curve
2: S-curve
m_r_a U16 Selection
0: Relative motion displacement
1: Absolute motion displacement