ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 160)

One of following command sequences can implement profile position motion.
• Motion organization without callback using:
Example 1.1
function run()
int
val
sync( 0, 10 ) //work with DS402 motion object required sync mechanism
a1.opm=1 //select operation mode for axis a1
a1.ato=10000
//statusword waiting timeout
a1.prv=2000 //set profile velocity
a1.pac=10000000 //define acceleration
a1.pdc=10000000 //define deceleration
a1.qsdc=10000000 //define quick stop deceleration
a1.psw=100 //define position windows
a1.pswt=2 //define position windows time
a1.mo=1 //motor on command
a1.pa=0 //set absolute target position value
a1.bg //start motion
val=a1.awm //wait for motion completed
if( (val&1024) == 1024) //bit 10 of SW is ON for target reached
a1.prv=5000 //set profile velocity
a1.ptp=2000 //set profile target position
a1.snp //apply new target position
//with current velocity, acceleration, ect.
a1.bg //start motion
a1.awm //wait for motion complete event
end if
a1.mo=0
//motor off command
end function
• Motion organization with callback using:
int g_nStatus
function run()
global int g_nStatus //global variable definition
sync( 0, 10 ) //work with DS402 motion object required sync mechanism
a1.opm=1 //select operation mode for axis a1
a1.prv=2000
//set profile velocity
a1.pac=10000000 //define acceleration
a1.pdc=10000000 //define deceleration
a1.qsdc=10000000 //define quick stop deceleration
a1.psw=100 //define position windows
a1.pswt=2 //define position windows time
a1.mo=1 //motor on command
g_nStatus=0 //global variable initialization
a1.amc=1 //motion callback mechanism ON
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-15