ElmoMC Multi-Axis Motion Controller-Maestro User Manual

Maestro, Software manual

Table of contents

Document Outline

Cover
Contents
Chapter 1: Introduction
- 1.1 Maestro Highlights
- 1.2 Supplementary Documents
- 1.3 Command Specification
- 1.4 Scope
Chapter 2: Functional Overview
- 2.1 Functional Block Diagram
- 2.2 Host Communications Services
- 2.3 Command Line Interpreter
- 2.4 The Kernel
- 2.5 Motion Manager
- 2.6 CANopen Network Communications Services
Chapter 3: Host Communications
- 3.1 Setting Up the Host through Elmo's Studio
- 3.2 Verifying or Changing the Host
- 3.3 Choosing the Host through the Composer
Chapter 4: General and Motion Instructions; Configuration Tools
- 4.1 General Functions
- 4.2 Axis
- 4.3 Vector
- 4.4 Group
- 4.5 CAN Bus Configuration Tools (for DSP 305support)
- 4.6 I/O Functions
  - 4.6.1 Maestro I/O Functions
  - 4.6.2 CAN I/O Functions (DS 401 Object Properties)
    - 4.6.2.1 Digital Input
    - 4.6.2.2 Digital Output
Chapter 5: MAXL Program Language
- 5.1 Lexical Conventions
- 5.2 Basic Concepts
- 5.3 Standard Conversions
- 5.4 Expressions
  - 5.4.1 Types of Expressions
  - 5.4.2 Semantics of Expressions
    - 5.4.2.1 Order of Evaluation
- 5.5 Statements
- 5.6 Functions
- 5.7 Virtual Machine Control Statements
- 5.8 Difference Between Static and Dynamic Group
  - 5.8.1 Recommendations on using dynamic groups
- 5.9 Static Variables
- 5.10 Maestro User Program Priority
Chapter 6: The Maestro API
- 6.1 MAC_Initialize
- 6.2 MAC_Uninitialize
- 6.3 MAC_CreateTCPConnection
- 6.4 MAC_CreateRS232Connection
- 6.5 MAC_CloseConnection
- 6.6 MAC_SendCommand
- 6.7 MAC_LocateDevices
- 6.8 MAC_GetDevice
- 6.9 MAC_GetIpByName
- 6.10 MAC_IsDevicePresent
- 6.11 MAC_LocateObjects
- 6.12 MAC_GetObject
- 6.13 MAC_DownloadTrajectory
- 6.14 MAC_RemoveTrajectory
- 6.15 MAC_DownloadProgram
- 6.16 MAC_RemoveProgram
- 6.17 MAC_DownloadResources
- 6.18 MAC_DownloadResourcesEx
- 6.19 MAC_UploadLog
- 6.20 MAC_DownloadSimpleIQFirmware
- 6.21 MAC_GetLastError
- 6.22 MAC_InitEvents
- 6.23 MAC_DeinitEvents
- 6.24 MAC_RegCloseCallback
- 6.25 MAC_RegInterruptCallback
- 6.26 MAC_DownloadSimpleIQProgram
- 6.27 MAC_DownloadSimpleIQParams
- 6.28 MAC_DownloadSimpleIQApp
Chapter 7: RS-232 Protocol Specification
- 7.1 Send Command to Maestro
- 7.2 Receive Answer from Maestro
Chapter 8: The Recorder
- 8.1 Accessing the Recorder
Chapter 9: The CANopen Configurator
- 9.1 Microsoft .Net Framework Installation Notes
- 9.2 CANopen Configurator GUI
- 9.3 Connecting to a Maestro
- 9.4 Create a Configuration Set
- 9.5 Identifying and Resolving Network Problems
- 9.6 Configuration Status Report
- 9.7 CANopen Configurator Options
  - 9.7.1 Changeable Properties
Chapter 10: Axis DS402 Command Reference
- 10.1 Modes of Operation
- 10.2 Profile Position (PP) Mode
  - 10.2.1 Profile Position (PP) Commands
  - 10.2.2 Profile Position Commands Usage
- 10.3 Profile Velocity (PV) Mode
- 10.4 Interpolated Position (IP) Mode
  - 10.4.1 Interpolated Position (IP) Commands
  - 10.4.2 Using Interpolated Position Commands
- 10.5 Homing (HM) mode
  - 10.5.1 Homing (HM) Commands
  - 10.5.2 Using Homing Commands
- 10.6 Profiled Torque (PT) Mode
  - 10.6.1 Profiled Torque (PT) Commands
  - 10.6.2 Using Profiled Torque Commands
- 10.7 DS402 Command List
- 10.8 DS402 PDO Mapping table
Chapter 11: Ethernet IP Communication
- 11.1 Terms and Abbreviations
- 11.2 Types of Ethernet/IP Messages
- 11.3 Product Classes
- 11.4 Ethernet/IP Module Activation
  - 11.4.1 Ethernet/IP Scanner (Rockwell) Activation
  - 11.4.2 Ethernet/IP Adapter (Maestro) Activation
- 11.5 UCMM (Unconnected) Messaging
  - 11.5.1 Server (Maestro) UCMM (Unconnected) Messaging
    - 11.5.1.1 User interface to create communication objects
    - 11.5.1.2 Using syntax
      - 11.5.1.2.1 Command interpreter
      - 11.5.1.2.2 Maestro Program
  - 11.5.2 Client (Rockwell) Messaging Support
    - 11.5.2.1 User interface to create communication objects
    - 11.5.2.2 Using syntax
      - 11.5.2.2.1 Command interpreter
      - 11.5.2.2.2 Maestro Program
- 11.6 Class 1 (I/O) connection server
  - 11.6.1 User interface to create communication objects
  - 11.6.2 Using syntax
- 11.7 Class 3 (connected) messaging server
  - 11.7.1 User interface to create communication objects
  - 11.7.2 Using syntax
    - 11.7.2.1 Command interpreter
    - 11.7.2.2 Maestro Program
Chapter 12: MODBUS Implementation
- 12.1 Master (Client) functionality implementation
  - 12.1.1 Ethernet media
    - 12.1.1.1 TCP communication parameters
- 12.2 Serial RS-232 media
  - 12.2.1 Communication parameters for ASCII or RTU
- 12.3 MODBUS Master functionality
- 12.4 Slave (Server) functionality implementation
- 12.5 MODBUS objects configuration by Elmo Studio: User Interface implementation
- 12.6 MODBUS communication workflow
- 12.7 MODBUS Protocol Errors
Chapter 13. Node DS301 Command Reference
- 13.1 NMT Service
- 13.2 Sync and Timestamp
- 13.3 Emergency Handling
- 13.4 Send PDO
- 13.5 Initialization of Callback Functions: Receive PDO
- 13.6 Callback Functions: Receive PDO
- 13.7 Download SDO - 8 bit
- 13.8 Download SDO - 16 bit
- 13.9 Download SDO - 32 bit
- 13.10 Upload SDO - 8 bit
- 13.11 Upload SDO - 16 bit
- 13.12 Upload SDO - 32 bit
- 13.13 Heartbeat Handling
Chapter 14: Maestro Message Queue
- 14.1 User Message Methods
- 14.2 Using the Maestro Message Queue: Examples
Appendix A: Setting up the Demo Case
- A.1 Setting Up the CAN nodes
- A.2 Checking the CANOpen Network
Appendix B: Sample Programs
- B.1 Graphic Primitives
- B.3 Basic Programming
- B.4 Callbacks Functions
- B.5 Homing
  - Wall Homing
- B.6 Inputs
- B.7 Motion Objects
  - B.7.1 Group Objects
- B.8 Etc.
Appendix C: Performance Considerations
Appendix D: Maestro System Errors
- D.1 Error Structure:
- D.2 Common Zone Errors
- D.3 CAN Communication Zone Errors
- D.4 Virtual Machine Zone Errors
- D.5 Mathematical Library Zone Errors