ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 45)

Function clears - remove user's or polyline trajectory sequence in a vector motion
object – erases previously sent commands before they are executed
Call Format .clears()
Return Value OK or FAILED : Error message
Example Vec1.clears()
Circle trajectory program examples can be found in Samples Tutorial –
Motion Library Tutorial Examples – Vector 2D
Function detach – cancel vector synchronization
Explanation Sometimes two vectors "share" an axis. If the axis was used simultaneously
by both vectors, then errors will occur. Detach is used to free the axis from
the vector with which it is working.
Call Format < Vector name>.detach()
Return Value OK or FAILED : Error message
Example V1.detach() (see Appendix B.4.6.1 MCompleteCallback)
Function dotrj – do trajectory
Explanation Used to initialize the PVT mechanism on each of the vector's axes, load the
initial portion of the PVT trajectory table to each axes and start motion. Start
motion is delayed by 20 ms unless otherwise specified by the VDT
command.
The trj command requires a BG command to start motion.
Call Format .dotrj()
Parameters - name of Vector PVT table (trajectory)
Return Value OK : Trajectory name
FAILED : Error message
Example V1.dotrj(table)
for vector name v1 run trajectory name “table ”
(see Appendix B.1.2.2 Add Point Sample)
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
4-26