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Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
28-10 Revised March, 2012
28.5 _DMC_01_rm_04pi_md1_start_line4
FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_start_line4(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 4-axis linear interpolation motion control under RM04PI Mode 1.
Parameters
Name Data Type Unit Description
CardNo U16 Number Unit CardNo is between 0~15
NodeID U16 Number Unit Holds Node ID sets used for linear interpolation
SlotID U16* Number Unit
SlotID[0] holds first set of Slot ID
SlotID[1] holds second set of Slot ID
SlotID[2] holds third set of Slot ID
SlotID[3] holds fourth set of Slot ID
Dist I32*
Number of
pulses
Path parameter corresponding to SlotID[0]
motion
Path parameter corresponding to SlotID[1]
motion
Path parameter corresponding to SlotID[2]
motion
Path parameter corresponding to SlotID[3]
motion
StrVel I32
Pulses per
second
Starting velocity parameter
MaxVel I32
Pulses per
second
Maximum velocity parameter
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