ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 44)

Function addpoint - add PVT point to user's trajectory sequence to a Vector
Call Format .addpoint(int ,int ,int , int,
int )
Parameters int , - position for PVT point (counts),
int , - velocity for PVT point (counts per second),
int - interpolation period for PVT point (milliseconds) 0 - 255
Return Value OK or FAILED : Error message
Example Vec1.addpoint(1000, 30000, 2000, 40000, 10)
For more information see the vector ends function example.
(see Appendix B.1.2.2 Add Point Sample)
Function addsplinep - add two-dimensional point to the spline segment of the
polyline trajectory sequence
Call Format .addsplinep(int ,int )
The last point of the previous polyline segment or the first point of the
trajectory is automatically added to the spline segment. It means that the
minimal number of the addsplinep() operators that define the same spline
segment inside the polyline must be greater than or equal to 2.
This requirement is valid for every spline segment inside the polyline – not
only for the first one.
Parameters int , - position of the point (counts)
Return Value OK or FAILED : Error message
Example Vec1. addsplinep (1000, 2000)
Polyline trajectory program examples can be found in
Samples Tutorial – Motion Library Tutorial Examples – Vector 2D
Function attach – used to synchronize all members of the Vector according to the
resource file. The attach function must be called before the first vector
operation.
Explanation Sometimes two vectors "share" an axis. If the axis was used simultaneously
by both vectors, then errors will occur. Attach is used to tell the axis with
which vector to work.
Call Format < Vector name>.attach()
Return Value OK or FAILED : Error message
Example G1.attach() (see Appendix B.4.6.1 MCompleteCallback)
Function circle - make circle trajectory for vector motion object
Call Format .circle(int ,float,float)
Parameters int - radius of circle trajectory (counts)
float - start angle of circle trajectory (degrees)
float - sweep angle of circle trajectory (degrees)
Return Value OK or FAILED : Error message
Example Vec1.circle(rad, alpha, delta);Vec1.bg
(see Appendix B.1.2.1 Circle Sample)
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
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