ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 49)

(counts), beginning of segment – current position
Return Value OK or FAILED : Error message
Example Vec1.addline(1000, 2000,400)
Program examples can be found in Samples Tutorial – Motion Library
Tutorial Examples – Vector 3D
Function addpoint - add PVT point to user's trajectory sequence to a vector
Call Format .addpoint(int ,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, 3000, 5000, 10)
For more information see the vector ends function example
Function addsplinep - add three-dimensional point to the spline segment of the
polyline trajectory sequence
Call Format .addsplinep(int ,int , int )
The last point of the previous polyline segment or the first point of the
trajectory is automatically added to the spline segment. This means that the
minimal number of the addsplinep() operators that define the same spline
segment inside the polyline must be greater or equal to: 2 points . 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, 8500)
Program examples can be found in Samples Tutorial – Motion Library
Tutorial Examples – Vector 3D
Function attach – used to synchronize all members of the vector according 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 with.
Call Format < Vector name>.attach()
Return Value OK or FAILED : Error message
Example V1.attach() (see Appendix B.4.6.1 MCompleteCallback)
Function clears - removes the user's or polyline trajectory sequence in a vector
motion object – erases previously sent commands before they are
executed
Call Format .clears()
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
4-30