ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 100)

Recipients of
group
commands
All elements which are
certain for the given group Only to switching-on nodes
certain for the given group
Command
Control
The same for both the Static and Dynamic group.
The Maestro sends a command to all nodes, in the case of the
Static Group, and to all switching-on nodes, in the case of
Dynamic Group, and waits for a response.
Initialization of
several groups
The same node can belong to
various groups.
The conflict is solved using
the following commands:
attach()/detach()
Each group has a unique set of
nodes.
Each node belongs to one
group only. The commands
attach()/detach() are not
applicable.
Group usage
All nodes MUST exist
(switching-on) upon group
operation At least one node MUST exist
(switching-on) when calling a
group operation
Switching-on a
node in a group
during program
performance
Not applicable
After switching-on, the node is
automatically connected to a
group
Switching-off a
node from the
group during
program
performance
Run time error Run time error.
Solution: Call “refresh”
function before using group
operation .
Initialization of
group (create
group in
resource file) See Fig 1 and Fig 2
5.8.1 Recommendations on using dynamic groups
1. Use only for mechanically independent nodes.
2. Pay attention that switching-on node will connect to dynamic group
automatically.
Maestro Software Manual MAXL Program Language
MAN-MASSW (Ver. Q)
5-38