ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 3)

Contents
Chapter 1: Introduction..................................................................................................................1-1
1.1 Maestro Highlights ................................................................................................ 1-1
1.2 Supplementary Documents ................................................................................ 1-2
1.3 Command Specification ...................................................................................... 1-3
1.4 Scope ..................................................................................................................... 1-3
Chapter 2: Functional Overview...................................................................................................2-1
2.1 Functional Block Diagram .................................................................................. 2-1
2.2 Host Communications Services ......................................................................... 2-2
2.3 Command Line Interpreter................................................................................. 2-2
2.4 The Kernel ............................................................................................................ 2-2
2.5 Motion Manager .................................................................................................. 2-3
2.6 CANopen Network Communications Services................................................ 2-3
Chapter 3: Host Communications.................................................................................................3-1
3.1 Setting Up the Host through Elmo's Studio...................................................... 3-1
3.2 Verifying or Changing the Host......................................................................... 3-1
3.3 Choosing the Host through the Composer ....................................................... 3-2
Chapter 4: General and Motion Instructions; Configuration Tools ........................................4-1
4.1 General Functions................................................................................................ 4-4
4.2 Axis ..................................................................................................................... 4-12
4.2.1 Axis Motion Commands........................................................................ 4-12
4.2.2 Axis Properties ....................................................................................... 4-12
4.2.3 Axis Functions ........................................................................................ 4-16
4.3 Vector.................................................................................................................. 4-18
4.3.1 Vector Motion Commands .................................................................... 4-18
4.3.2 Vector Properties.................................................................................... 4-18
4.3.3 Vector 2D Functions............................................................................... 4-24
4.3.4 Vector 3D Functions............................................................................... 4-29
4.4 Group.................................................................................................................. 4-34
4.4.1 Group Motion Commands .................................................................... 4-34
4.4.2 Group Properties .................................................................................... 4-34
4.4.3 Group Functions..................................................................................... 4-36
4.4.4 Group Arrays.......................................................................................... 4-37
4.5 CAN Bus Configuration Tools (for DSP 305 support)............................................ 4-37
4.6 I/O Functions..................................................................................................... 4-40
4.6.1 Maestro I/O Functions .......................................................................... 4-40
4.6.2 CAN I/O Functions (DS 401 Object Properties) ................................. 4-42
4.6.2.1 Digital Input ........................................................................................4-42
4.6.2.2 Digital Output .....................................................................................4-43
Chapter 5: MAXL Program Language ..........................................................................................5-1
5.1 Lexical Conventions ............................................................................................ 5-1
5.1.1 Comments ................................................................................................. 5-1
5.1.2 Identifiers .................................................................................................. 5-2
5.1.3 MAXL Keywords...................................................................................... 5-2
Maestro Software Manual
MAN-MAMSW (Ver. Q)
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