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Chapter 28 4-Channel Pulse Interface (Mode 1) Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
28-16 Revised March, 2012
28.8 _DMC_01_rm_04pi_md1_start_arc3
FORMAT
I16 PASCAL _DMC_01_rm_04pi_md1_start_arc3(U16 CardNo, U16 NodeID,U16* SlotID,
I32* Center,I32* End, I16 dir, 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:
center point coordinates, endpoint coordinates)
※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
Center I32*
Number of
pulses
Center[0] holds first set of center point
coordinates
Center[1] holds second set of center point
coordinates
End I32*
Number of
pulses
End[0] holds first set of endpoint coordinates
End[1] holds second set of endpoint
coordinates
dir I16 Selection
Specified direction (Clockwise if value is 1;
CCW if value is 0)
StrVel I32
Pulses per
second
Starting velocity parameter
MaxVel I32
Pulses per
second
Tangential 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