ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 174)

a1.ipqp=100 //push position to IP queue
a1.ipa=1 //IP mode activation
for i=2:100
a1.ipqp = i*100 //push position to IP queue
end
a1.ipqp = (i - 1)*100
a1.awm
//wait for motion completed (bit 10 of SW is ON)
a1.mo=0 //motor off command
end function
• Motion organization with last point automatically sends:
#define ip_time 10
int g_nStatus, g_nPoint
function run()
global int g_nStatus, g_nPoint //global variable definition
sync( 0, ip_time ) //work with DS402 motion object required sync mechanism
a1.opm=7 //select operation mode for axis a1
g_nStatus=0
//global variable initialization
g_nPoint=0
a1.amc=1 //motion callback mechanism ON
a1.prv=20000
//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=1 //IP queue reset with last point automatically sending
//in case of empty queue
a1.ipqp= g_nPoint
//push position to IP queue
a1.ipa=1 //IP mode activation
while (g_nStatus == 0 )
a1.ipqp = g_nPoint //push position to IP queue
end while
a1.mo=0
//motor off command
end function
// motion completed callback
function @motioncompleted(int busId, int objId)
global int g_nStatus
g_nStatus = objId //global variable value changing
end function
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-29