ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 50)

Return Value OK or FAILED : Error message
Example Vec1.clears()
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 in each of the vector's axes and 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 ”
Function ends - closes a polyline trajectory sequence and a sequence of user defined
PVT points
Call Format .ends()
Return Value Ok or FAILED : Error message
Example v1.startp(mytable) - begin the trajectory name mytable
v1.addpoint(10, 1000, 20, 2000, 3000, 60000, 10)
v1.addpoint(1000, 30000, 4000, 50000, 8000, 60000, 10)
………….
v1.addpoint(5000, 1000, 4000, 2000, 30000, 4000, 10)
v1.ends() - after this, the trajectory name “mytable” will contain the user’s
PVT table
* * *
v1.start(mytable) - begin the trajectory name "mytable"
v1.addline(1000,2000, 5000)
v1.addsplinep(2500, 4000, 6000)
v1.addsplinep(4000, 5000, 9000)
v1.addline(25000, 18000, 15000)
v1.ends() - after this the trajectory name “mytable” will contain an updated
PVT table
3D polyline trajectory program examples can be found in
Samples Tutorial – Motion Library Tutorial Examples – Vector 3D
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
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