ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 158)

Object Index
and Subindex
Full Command Short
Command
Elmo Short
Command
Description
0x606C, 0x00 ProfileActualVelocity pav vx Profile actual velocity
(for Axis only)
0x6040, 0x00
0x6041, 0x00
0x607A, 0x00
(for more view
PDO Mapping
table) - - pa Absolute target position
macrocommand
The Control word and
data record are sent by
PDO4. (See Section 11.8
DS402 PDO Mapping
Table).
0x6040, 0x00
0x6041, 0x00
0x607A, 0x00
(for more view
PDO Mapping
table) - - pr Relative target position
macrocommand
The Control word and
data record are sent by
PDO4. (See Section 11.8
DS402 PDO Mapping
Table).
Commands using:
a1.ptp=2000
a1.prv=5000
a1.pac=a1.pdc=200000
a1.snp
a1.bg
Axis properties connected to PP mode:
• aap - absolute target for profile position (reset bit 11 on the Set New Point
controlword, default value – absolute target position)
• abf - point buffering for profile position (set/reset bit 13 on the Set New Point
controlword, default value – point is not buffered)
• aim - change target position immediately (set/reset bit 10 on the Set New
Point controlword, default behavior – finish actual motion and then start
next positioning)
• anp - negative position polarity (define bit 7 of object 0x607E – polarity,
default value 0 – position value multiply by 1. If anp=1 - position value
multiply by -1)
• anv - negative velocity polarity (define bit 6 object 0x607E – polarity, default
value 0– velocity value multiply by 1. If anv=1 - velocity value multiply by -
1)
• arp - relative target for profile position (set bit 11 on the Set New Point
controlword, default value – absolute target position)
• ato - status word waiting timeout (for wswd command (or awm property),
default value – 500 milliseconds)
• awm - motion completed waiting
• amc - motion completed callback control (must be set to 1 for callback
mechanism activation)
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-13