ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 8)

12.5.5 MODBUS Serial Slave .......................................................................... 12-16
12.6 MODBUS communication workflow............................................................. 12-17
12.7 MODBUS Protocol Errors ............................................................................... 12-18
Chapter 13. Node DS301 Command Reference ........................................................................13-1
13.1 NMT Service....................................................................................................... 13-1
13.2 Sync and Timestamp .......................................................................................... 13-2
13.3 Emergency Handling ........................................................................................ 13-2
13.4 Send PDO............................................................................................................ 13-2
13.5 Initialization of Callback Functions: Receive PDO ........................................ 13-3
13.6 Callback Functions: Receive PDO.................................................................... 13-3
13.7 Download SDO - 8 bit ....................................................................................... 13-4
13.8 Download SDO - 16 bit ..................................................................................... 13-5
13.9 Download SDO - 32 bit ..................................................................................... 13-5
13.10 Upload SDO - 8 bit ............................................................................................ 13-6
13.11 Upload SDO - 16 bit........................................................................................... 13-6
13.12 Upload SDO - 32 bit........................................................................................... 13-7
13.13 Heartbeat Handling........................................................................................... 13-7
Chapter 14: Maestro Message Queue.........................................................................................14-1
14.1 User Message Methods ..................................................................................... 14-1
14.2 Using the Maestro Message Queue: Examples............................................... 14-2
Appendix A: Setting up the Demo Case.....................................................................................A-1
A.1 Setting Up the CAN nodes ................................................................................ A-1
A.2 Checking the CANOpen Network.................................................................... A-2
Appendix B: Sample Programs .................................................................................................... B-1
B.1 Graphic Primitives...............................................................................................B-3
B.1.1 Line Sample................................................................................................B-3
B.1.2 Circle Samples ...........................................................................................B-3
B.1.2.1 Circle Sample........................................................................................ B-3
B.1.2.2 Add Point Sample................................................................................ B-4
B.1.3 Line to Line Samples.................................................................................B-5
B.1.3.1 Line_to_Line Sample ........................................................................... B-5
B.1.4 Line to Circle Samples ..............................................................................B-5
B.1.4.1 Line to Circle ........................................................................................ B-5
B.1.4.2 Line to Circle with Homing ................................................................ B-6
B.1.5 Circle to Line Samples ..............................................................................B-7
B.1.5.1 Circle to Line ........................................................................................ B-7
B.1.5.2 Circle-to-Line with Homing Sample .................................................. B-8
B.1.6 Polygon Sample.........................................................................................B-8
B.1.6.1 Polygon ................................................................................................. B-8
B.2 Motion Mathematics............................................................................................B-9
B.3 Basic Programming .............................................................................................B-9
B.3.1 Break-Continue-Return Sample...............................................................B-9
B.3.2 Function Call Sample ................................................................................B-9
B.3.3 For Sample .................................................................................................B-9
B.3.4 Global Variable Sample ..........................................................................B-10
B.3.5 If Sample...................................................................................................B-10
B.3.6 If-Else Sample ..........................................................................................B-11
B.3.7 If-Else-If Sample ......................................................................................B-11
Maestro Software Manual Contents
MAN-MAMSW (Ver. Q)
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