ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 56)

Function isok – to verify motion object status
Call Format .isok
Return Value OK or FAILED : Error message
Example Grp.isok
4.4.4 Group Arrays
Function Enables access to each object in a group individually
Call Format [Index]
Parameters The Index is always an integer value
Return Value OK: Returns reference
FAILED: Error message (such as "Out of Range" or "Bad Index)
Note Indexes starts at 0
Example G[0].MO=1 This sends a message to the first object (axis 1)
Same as a1.MO=1 if a1 is a member of the group
(see Appendix B.3.13.2 Group as Array)
Function Enable program to retrieve the size of the group
Call Format .size
Return Value Size of group
Example S=G1.size
(see Appendix B.3.13.2 Group as Array)
4.5 CAN Bus Configuration Tools (for DSP 305
support)
The CAN bus configuration tools, listed below, are based on CiA DSP 305 CANopen Layer
Setting Services (LSS) and Protocols. They were created to enable the following parameters to be
read and changed through the network:
• CANopen Node ID
• CAN bus baud rate
With the Maestro an LSS Slave is identified by an LSS Address. An LSS Address consists of a
Vendor ID, a Product Code, a Revision Number and a Serial Number. The Vendor ID and
Product Code are numerical numbers. The Revision Number contains the major and minor
revision in numerical form. The Serial Number is coded numerically as well.
Function plss_activate_bt(busID,delay) - activates the CAN bus bit timing parameter
as defined by the plss_config_bt function. This enables all LSS Slaves to be in
configuration mode.
busID CAN bus ID - possible value: 0, 1
Delay activation delay, milliseconds;
Return Value
"OK" or error code
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
4-37