The Multi-Axis Language (MAXL) file examples listed below can be opened in Elmo Studio's
Program Editor. These files can be modified, off-line, in File View. They can also be compiled
off-line.

However, they cannot be downloaded and run until they communicate with a Maestro that
has the associated resources. In the case of all the examples, the required resources are:

•

a1: X-axis

•

a2: Y-axis

•

v1: vector made from a1 and a2

In other words, the program will only run if the Maestro connected by Telnet is online and
has pre-defined, and on-line, a1, a2 and v2.

B.1 Graphic Primitives

B.1.1

Line Sample

function run()

sync(0,

20)

v1.mo=0

//motor

off

v1.px=0

//current location is 0,0

v1.mo=1

// motor on

v1.vsp=10000

//max

vel

v1.line(7000, 10000) //go to( 7K,10K)

v1.bg

//action!

end function

B.1.2

Circle Samples

B.1.2.1 Circle Sample

function run()

a1.rm = 0 //The reference is generated by the interpreter command or by the user program.

a2.rm

sync(0, 10) //send a sync signal to CAN bus 0 every 10ms

v1.mo=0 //motor off

v1.px=0 //call this "home"

v1.mo=1 //motor on

v1.vum=1 //build trajectory in max. velocity mode

v1.vsc=1 //smooth intersection with max. velocity

v1.vtm=1 //enable PVT motion initialization

v1.vac = 28000000 //max acceleration

B-3