ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 33)

Property AID – get axis ID
Explanation Used to get the NodeID of an axis. For example, in a callback function
the NodeID can be compared with a specific motion object so that
something specific can be done in each case (event / NodeID).
Limitation Read only
Type Unsigned integer
Example Function @input (BusID, NodeID, data)
switch(NodeID)
case
a1.aid
val=1
case a2.aid
val=3
end
end
(see Appendix B.4.5.2 InputOutputTest1)
Property ALN – number of trajectory cycles for an Axis
Explanation Repeats predefined PVT motion.
Note 0 - infinite
Default 1
Limitation 0, 1 … N
Type Unsigned integer
Property AMC – Axis Motion Completed event initialization
Explanation Initialize Motion Event notifies the system that axis motion is
complete and continues to notify until turned off. This is intended for
when one axis starts only after another axis motion has stopped.
Note 0 – event disabled, 1 – event enabled.
Default 0
Limitation 0 – 1
Example (see Appendix B.4.6 Motion Completed Callback Samples)
Property APE – Axis Program Emit event initialization
Explanation To initialize a reaction (maestro callback function) upon calling the
emit(i) function in a SimplIQ program.
Note Bit field:
bit 0 – PDO1 (emit(1)), bit 2 – PDO3 (emit(3)), bit 3 – PDO4 (emit(4))
bit value 0 – event disabled,
bit value 1 – event enabled.
Default 0
Limitation 0 – 15 (see Appendix B.4.4.2 EmitCallback)
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
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