ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 162)

10.2.2.3 Features of Profile Position Operating Mode Using for
Group (Vector)
Profile position motion for the DS402 Group (Vector) can be implemented by the
following command sequence:
function run()
int val
sync( 0, 10 )
//work with DS402 motion object required sync mechanism
g1.opm=1 //select operation mode for group g1
g1.gto=10000
//statusword waiting timeout
g1.prv=2000 //set profile velocity
g1.pac=10000000 //define acceleration
g1.pdc=10000000 //define deceleration
g1.qsdc=10000000 //define quick stop deceleration
g1.psw=200 //define position windows
g1.pswt=2 //define position windows time
g1.mo=1 //motor on command
g1.pa=0 //set absolute target position value
g1.bg //start motion
val=g1.gwm //wait for motion completed
if( (val&1024) == 1024) //bit 10 of SW is ON for target reached
a1.sp=5000
//set profile velocity for axis a1 (member of g1)
a1.ptp=2000 //set target position for axis a1 (member of g1)
a1.snp //apply new position for axis a1 (member of g1)
a2.prv=5000
//set profile velocity for axis a2 (member of g1)
a2.ptp=2000 //set target position for axis a2 (member of g1)
a2.snp=2000 //apply new position for axis a2 (member of g1)
g1.bg
//synchronically motion start for all members of g1
g1.gwm //wait for motion complete for all members of g1
end if
g1.mo=0
//motor off command
end function
Vector (Group) must be synchronized when working with the following commands: bg
(start motion), st (stop motion), pcwd (controlword) and gv, ip, hm – commands for other
operating modes. Synchronization is achieved via sync messages on a CAN bus.
Command sync( busID, syncPeriod) operates sync mechanisms.
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-17