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Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01
3-126 Revised March, 2012
/* MotionStep1. Move the three axes to job start point */
_DMC_01_start_sa_move(CardNo, NodeID3[0], SlotID3[0], 0, 0, MaxVel, 0.1, 0.1);
_DMC_01_start_sa_move(CardNo, NodeID3[1], SlotID3[1], 0, 0, MaxVel, 0.1, 0.1);
_DMC_01_start_sa_move(CardNo, NodeID3[2], SlotID3[2], -13500, 0, MaxVel, 0.1,
0.1);
/* MotionStep2. Wait for Motion Done and confirm that Step 1 was completed */
for(i=0;i<3;i++)
{
rt[i] = _DMC_01_get_command(CardNo, NodeID3[i], SlotID3[i], &Cmd[i]);
}
if((rt[0] + rt[1] + rt[2] == 0) && (Cmd[0] == 0) && (Cmd[1] == 0) && (Cmd[2] ==
-13500))
{
MotionStep = 3;
}
/* MotionStep3. Start processing */
_DMC_01_start_tr_move_xy(CardNo, NodeID2, SlotID2, 40000, 40000, MaxVel/2,
MaxVel, 0.1, 0.1);
_DMC_01_start_tr_heli_xy(CardNo, NodeID3, SlotID3, -10000, 10000,
-Pitch*(180.0/360), Pitch,1, MaxVel/2, MaxVel, 0.1, 0.1);
_DMC_01_start_tr_move_xy(CardNo, NodeID2, SlotID2, -40000, -40000, MaxVel/2,
MaxVel, 0.1,0.1);
_DMC_01_start_tr_heli_xy(CardNo, NodeID3, SlotID3, 10000, -10000, - Pitch
*(180.0/360), Pitch, 1, MaxVel/2, MaxVel,0.1,0.1);