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Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
28-14 Revised March, 2012
28.7 _DMC_01_rm_04pi_md1_start_arc2
FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_start_arc2(U16 CardNo, U16 NodeID,U16* SlotID,
I32* End, F64 Angle, I32 StrVel, I32 MaxVel, F64 Tacc, F64 Tdec,U16 m_curve,U16 m_r_a)
Purpose
Performs 2-axis arc interpolation motion control under RM04PI Mode 1 (Known conditions:
endpoint coordinates, angle)
※For motion description, please see Chapter 20 “2-Axis Arc Interpolation Motion Control API”.
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
SlotID[0] holds first set of Slot ID
SlotID[1] holds second set of Slot ID
End I32*
Number of
pulses
End[0] holds first set of endpoint coordinates
End[1] holds second set of endpoint
coordinates
Angle F64 Degree (°) Set arc angle. One full arc is 360
o
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
m_curve U16 Selection
1: Referenced against T-curve velocity
cross-section
2: Referenced against S-curve velocity
cross-section
m_r_a U16 Selection
0: Displacement in relative coordinates
1: Displacement in absolute coordinates