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Chapter 34 Multi-Axis Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 34-5
34.3 _DMC_01_start_v3_multi_axes
FORMAT
I16 PASCAL _DMC_01_start_v3_multi_axes(U16 CardNo,U16 AxisNum, U16* NodeID, U16*
SlotID, I32 *DistArrary, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2,
U16 m_curve,U16 m_r_a)
Purpose
Multi-axis (more than 2 axes) motion control with added EndVel.
※Values of StrVel and EndVel can be greater than MaxVel.
Parameters
Name Data Type Unit Description
CardNo U16 Number Unit CardNo is between 0~15
AxisNum U16 Number Unit Axis ID
NodeID U16* Number Unit Node ID
SlotID U16* Number Unit Slot ID
DistArrary I32*
Number of
pulses array
Motion to be executed by each axis
StrVel I32
Pulses per
second
Starting velocity
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