ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 16)

2.2 Host Communications Services
A host application can access the Maestro using either a TCP/IP or RS-232 services.
Processes carried out through host communication include:
ƒ Transfer of operating instructions (e.g. for running a program or killing it) to the
Maestro
ƒ Transfer operational data (such as the trajectory of the next motion)
ƒ Status requests
ƒ Debugging
ƒ Generation of a “transparent path” from a Composer program to any single end-unit
ƒ Host communication is used to execute different tasks, including:
ƒ Processing of interpreter commands
ƒ Maintenance and file download/upload
ƒ Processing of direct-axis interpreter commands
ƒ CANopen gateway
2.3 Command Line Interpreter
CLI commands that are sent to the Maestro are either executed by the Maestro itself or
are forwarded directly to the specified axis for immediate execution.
The CLI currently supports the following commands:
ƒ Initialization commands
ƒ Commands for collect information
ƒ Axis commands
ƒ Vector commands
ƒ Group command
2.4 The Kernel
One of the main Kernel functions is running Maestro User Programs. The part of the
Kernel which executes the User Programs is the Virtual Machine which enables multi-
axis programming. Each task (program) can work independently of the other tasks by
running a separate virtual machine. Communication and synchronization between tasks
can be performed by using global variables. Multiple tasks can be used to run different
machine functions in parallel.
Maestro Software Manual Functional Overview
MAN-MASSW (Ver. Q)
2-2