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Chapter 20 2-Axis Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 20-27
20.13 _DMC_01_start_spiral_xy
FORMAT
I16 PASCAL _DMC_01_start_spiral_xy (U16 CardNo, U16* NodeID, U16* SlotID,
I32 Center_X, I32 Center_Y, I32 spiral_interval, I32 spiral_angle, I32 StrVel, I32 MaxVel,
F64 Tacc, F64 Tdec,U16 m_curve,U16 m_r_a)
Purpose
Carries out 2-axis spiral motion (Known conditions: center coordinates for X and Y axes).
Parameters
Name Data Type Unit Description
CardNo U16 Number Unit
Node ID of card used for motion displacement
along X-axis and Y-axis
NodeID U16* Number Unit
Holds Node ID sets used for carrying out spiral
motion
NodeID[0] holds 1st set of Node ID
NodeID[1] holds 2nd set of Node ID
SlotID U16* Number Unit Slot ID
Center_X I32
Number of
pulses
Center X-coordinate on specified axis
Center_Y I32
Number of
pulses
Center Y-coordinate on specified axis
spiral_interval I32
Number of
pulses
Relative distance between spirals
spiral_angle I32 Number
Total angle of spiral motion (one revolution is
360 degrees)
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
m_curve U16 Selection
1: T-curve
2: S-curve
m_r_a U16 Selection
0: Relative motion displacement
1: Absolute motion displacement