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Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 28-5
28.2 _DMC_01_rm_04pi_md1_v_move
FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_v_move(U16 CardNo, U16 NodeID,U16 SlotID,
I32 StrVel, I32 MaxVel, F64 Tacc,I16 dir,U16 m_curve)
Purpose
Performs velocity motion control under RM04PI Mode 1.
Parameters
Name Data Type Unit Description
CardNo U16 Number Unit CardNo is between 0~15
NodeID U16 Number Unit Node ID
SlotID U16* Number Unit Slot ID
StrVel I32
Pulses per
second
Starting velocity
MaxVel I32
Pulses per
second
Maximum velocity
Tacc F64 Second Specified acceleration time
Tdec F64 Second Specified deceleration time
dir I16 Selection
0: Move in positive direction
1: Move in negative direction
m_curve U16 Selection
1: Referenced against T-curve velocity
cross-section
2: Referenced against S-curve velocity
cross-section
Example
U16 CardNo=0;
U16 NodeID =1;
U16 SlotID = 0;
I32 StrVel = 1000, MaxVel =12800;
F64 Tacc=0.1, Tdec=0.1;
I16 dir = 0; // Direction is positive
U16 m_curve = 1; //Referenced against T-curve velocity cross-section
/* RM04PI MODE1 moving in positive direction */
I16 status= _DMC_01_rm_04pi_md1_v_move (CardNo, NodeID, SlotID, StrVel, MaxVel, Tacc,
Tdec, dir, m_curve);