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Chapter 23 Velocity Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
23-2 Revised March, 2012
23.1 _DMC_01_tv_move
FORMAT
I16 PASCAL _DMC_01_tv_move(U16 CardNo, U16 NodeID,U16 SlotID, I32 StrVel,
I32 MaxVel, F64 Tacc,I16 Dir)
Purpose
Velocity motion control with T-curve velocity cross-section.
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
StrVel I32
Pulses per
second
Starting velocity parameter
MaxVel I32
Pulses per
second
Maximum velocity parameter
Tacc F64 Second Specified acceleration time
Dir I16 Selection
0: In positive direction
1: In negative direction
Description
Figure. 23.1 Illustration of trapezoidal motion speed constant
Example
U16 CardNo=0, NodeID=1, SlotID=0, PDO_enable=1;
I32 StrVel=100, MaxVel=5000;
F64 Tacc=0.1;
I16 Dir =1;
I16 status= _DMC_01_tv_move(CardNo, NodeID, SlotID, StrVel, MaxVel, Tacc, Dir);
//Velocity motion control under PDO mode