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Chapter 22 3-Axis Spiral Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
22-8 Revised March, 2012
22.4 _DMC_01_start_sa_heli_xy
FORMAT
I16 PASCAL _DMC_01_start_sa_heli_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, I32 Depth, I32 Pitch, I16 Dir, I32 StrVel, I32 MaxVel, F64 Tacc,
F64 Tdec)
Purpose
3-axis Spiral interpolation motion using absolute coordinates with S-curve velocity
cross-section.
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 spiral interpolation
NodeIDArray[0] = Node_1
NodeIDArray[1] = Node_2
NodeIDArray[2] = Node_3
SlotID U16* Number Unit Slot ID
Center_X I32
Number of
pulses
Absolute center point X-coordinate on the
specified axis
Center_Y I32
Number of
pulses
Absolute center point Y-coordinate on the
specified axis
Depth I32
Number of
pulses
Absolute depth to position on specified axis
(height in direction of Z)
Pitch I32
Number of
pulses
Absolute height between two spirals
Dir I16 Selection
Direction of spiral arc motion. Clockwise: 1 ;
Counterclockwise: 0
StrVel I32
Pulses per
second
Starting velocity parameter
MaxVel I32
Pulses per
second
Maximum velocity parameter
Tacc F64 Second Specified acceleration time
Tdec F64 Second Specified deceleration time