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Chapter 22 3-Axis Spiral Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
22-10 Revised March, 2012
22.5 _DMC_01_start_v3_heli_xy
FORMAT
I16 PASCAL _DMC_01_start_v3_heli_xy(U16 CardNo, U16* NodeID,U16* SlotID,
I32 Center_X, I32 Center_Y, I32 Depth, I32 Pitch, I16 Dir, I32 StrVel, 32 ConstVel, I32 EndVel,
F64 TPhase1, F64 TPhase2, U16 m_curve, U16 m_r_a)
Purpose
3-axis Spiral 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 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
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: T-curve
2: S-curve
m_r_a U16 Selection
0: Relative motion displacement
1: Absolute motion displacement