ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 187)

10.6.2.3 Using the Profiled Torque Mode for a Group
(Vector)
Profiled Torque motion for the DS402 Group (Vector) can be implemented by the
following command sequence:
function run()
sync( 0, 10 ) //work with DS402 motion object required sync mechanism
g1.opm=4 //select operation mode for group g1
g1.mo=1 //motor on command
g1.mrc=1000 //motor rate current
g1.pmxc=1000 //profile max current
g1.pts=500 //profile torque slot
g1.ptt=250 //target torque (25%) for group
//difference between demand torque and actual torque verification
while ( abs( a1.pdt – a1.pat ) < 5 )
wait(1)
end while
g1.ptt= -100
//target torque (-10%) for group
//difference between demand torque and actual torque verification
while ( abs( a1.pdt – a1.pat ) < 5 )
wait(1)
end while
g1.ptt=0
//target torque 0 for group
end function
The profile target torque (ptt) command for compound motion objects is synchronous
under sync messages. Feedback commands (actual current pacr, actual torque patr,
demand torque pds), however, are inaccessible through a group.
10.7 DS402 Command List
DS402 Axis commands:
opm - operation mode
OperationMode - operation mode
div - disable voltage
DisableVoltage - disable voltage
sdn - shutdown
Shutdown - shutdown
swn - switch on
SwitchOn - switch on
mo - motor operation
opd - operation disable
OperationDisable - operation disable
bg - operation enable
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-42