ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 180)

10.4.2.3 Features of Interpolated Position Operating Mode
Using for Group (Vector)
Interpolated position motion for Group (Vector) DS402 can be implemented by the
following command sequence:
#define ip_time 10
int g_nStatus, g_nPointX, g_nPointY
function run()
//global variable definition
global int g_nStatus, g_nPointX, g_nPointY
sync( 0, ip_time ) //work with DS402 motion object required sync mechanism
g1.opm=7 //select operation mode for group g1
g_nStatus=0
//global variable initialization
g_nPointX=0
g_nPointY=0
g1.amc=1 //motion callback mechanism ON
g1.prv=15000
//set profile velocity
g1.pac=10000000 //define acceleration
g1.pdc=10000000 //define deceleration
g1.qsdc=10000000 //define quick stop deceleration
g1.psw=100 //define position windows
g1.pswt=2 //define position windows time
g1.mo=1 //motor on command
g1.iptp= ip_time //interpolation period – must be equal to sync period
g1.ipqr=1 //IP queue reset with last point automatically sending
//in case of empty queue
a1.ipqp= g_nPointX
//push position to IP queue
a2.ipqp= g_nPointY //push position to IP queue
g1.ipa=1 //IP mode activation
while (g_nStatus == 0 )
a1.ipqp = g_nPointX //push position to IP queue of Axis a1
a2.ipqp = g_nPointY //push position to IP queue of Axis a2
end while
g1.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
Each axis entering into a Group (Vector) has an independent interpolation queue.
There are two ways to use the queue configuration:
• If the last point is automatically sent, then there should be at least one
point in the queue before motion starts.
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-35