ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 173)

Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-28
10.4.2 Using Interpolated Position Commands
10.4.2.1 Implementing Interpolated Position Motion
Figure 10-10: Interpolated Position Motion Algorithm
One of following command sequences can implement profile position motion.
• Motion organization without the last point automatically sends:
#define ip_time 10
function run()
int
i
sync( 0, ip_time ) //work with DS402 motion object required sync mechanism
a1.opm=7 //select operation mode for axis a1
a1.ato=10000
//statusword waiting timeout
a1.prv=5000
//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.iptp= ip_time //interpolation period – must be equal to sync period
a1.ipqr=0 //IP queue reset without last point automatically sending //in
case of empty queue