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Chapter 21 3-Axis Linear Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
21-6 Revised March, 2012
21.5 _DMC_01_start_v3_move_xyz
FORMAT
I16 PASCAL _DMC_01_start_v3_move_xyz(U16 CardNo, U16* NodeID,U16* SlotID, I32
DisX, I32 DisY, I32 DisZ, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2,
U16 m_curve,U16 m_r_a)
Purpose
3-axis linear interpolation motion with EndVel added.
※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
NodeIDArray U16* Number Unit
Holds Node ID sets used for linear interpolation
NodeIDArray[0] = Node_1
NodeIDArray[1] = Node_2
NodeIDArray[2] = Node_3
SlotID U16* Number Unit Slot ID
DisX I32
Number of
pulses
Absolute path parameter for motion of Node
ID on X-axis
DisY I32
Number of
pulses
Absolute path parameter for motion of Node
ID on Y-axis
DisZ I32
Number of
pulses
Absolute path parameter for motion of Node
ID on Z-axis
StrVel I32
Pulses per
second
Starting velocity parameter
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¡GT-curve
2¡GS-curve
m_r_a U16 Selection
0: Relative motion displacement
1: Absolute motion displacement