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Chapter 40 Linear and Arc Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 40-9
40.4 _DMC_01_start_v3_rline_xyz
FORMAT
I16 PASCAL _DMC_01_start_v3_rline_xyz (U16 CardNo, U16* NodeID, U16* SlotID,
I32 pos1_x, I32 pos1_y, I32pos1_z, I32 pos2_x, I32 pos2_y, pos2_z, U16 mode,
F64 param, I32 StrVel, I32 ConstVel, I32 EndVel, F64 TPhase1, F64 TPhase2, U16 m_curve,
U16 m_r_a)
Purpose
3-axis linear, arc interpolation motion control with added EndVel.
※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
NodeID U16* Number Unit Node ID
SlotID U16* Number Unit Slot ID
Pos1_x I32 Number Unit X-coordinate of first position
Pos1_y I32 Number Unit Y-coordinate of first position
Pos1_z I32 Number Unit Z-coordinate of first position
Pos2_x I32 Number Unit X-coordinate of second position
Pos2_y I32 Number Unit Y-coordinate of second position
Pos2_z I32 Pulses per second Z-coordinate of second position
Mode U16 Selection
0: Perpendicular distance from arc to right
angle (AB)
1: Perpendicular distance from start of arc
to right angle (AB)
2: Arc radius (AB)
Param F64 Number Unit Relative mode distance
StrVel I32 Pulses per second Starting velocity
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