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Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 28-3
28.1 _DMC_01_rm_04pi_md1_start_move
FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_start_move(U16 CardNo, U16 NodeID,U16 SlotID,
I32 Dist, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve,U16 m_r_a)
Purpose
Performs 1-axis motion control under RM04PI Mode 1.
※When setting StrVel, make sure its value is smaller than MaxVel.
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 path
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
m_curve U16 Selection
1: Referenced against T-curve velocity
cross-section
2: Referenced against S-curve velocity
cross-section
m_r_a U16 Selection
0: Displacement in relative coordinates
1: Displacement in absolute coordinates