ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 257)

Maestro Software Manual Appendix B: Sample Programs
MAN-MASSW (Ver. Q)
B.1.3 Line to Line Samples
B.1.3.1 Line_to_Line Sample
function run()
a1.rm = 0 // The reference is generated by the interpreter
// command or by the user program.
a2.rm = 0
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=3 //smoothed with fixed dist from the corner
v1.vtm=1 //enable PVT motion initialization
v1.vac = 28000000 //max acceleration
v1.vdc = 28000000 //max deceleration
v1.starts() // begin trj
v1.vsp = 100000 //max. velocity
v1.vse = 100000 //end velocity
v1.addline(0, -50000) //create line from current point to coordinate 0 on X and 50,000 on Y
v1.vsd = 2000 //distance of tangent of arc from line intersection
v1.vsp = 50000 //max. velocity
v1.vse = 0 //end velocity
v1.addline(-20000, 0) //create line from current point to coordinate
// 0 on X and 50,000 on Y
v1.ends() // end trj
v1.bg //start motion
while
(a1.ms==2)||(a2.ms==2) //wait until both axes have stopped
wait(10)
end
while
end function
B.1.4 Line to Circle Samples
B.1.4.1 Line to Circle
function run()
a1.rm = 0 //The reference is generated by the interpreter command or by the user program.
a2.rm = 0
sync(0, 20) //send sync to CANbus 0 every 20ms
B-5