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Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 20-5
20.2 _DMC_01_start_sr_arc_xy
FORMAT
I16 PASCAL _DMC_01_start_sr_arc_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, F64 Angle, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec)
Purpose
2-axis arc interpolation motion using relative coordinates with S-curve velocity cross-section
(Known conditions: center point coordinates, angle).
Parameters
Name Data Type Unit Description
CardNo U16 Number Unit
Node ID of card used for motion displacement
along X-axis and Y-axis
NodeIDArray U16* Number Unit
Holds Node ID sets used for arc interpolation
NodeIDArray[0] holds the 1st set of Node ID
NodeIDArray[1] holds the 2nd set of Node ID
SlotID U16* Number Unit Slot ID
Center_X I32 Number of pulses
Relative center point X-coordinate on the
specified axis
Center_Y I32 Number of pulses
Relative center point Y-coordinate on the
specified axis
Angle F64 Degree (°) Set arc angle. One full arc is 360
o
StrVel I32
Pulses per
second
Starting velocity parameter
MaxVel I32
Pulses per
second
Tangential velocity parameter
Tacc F64 Second Specified acceleration time
Tdec F64 Second Specified deceleration time