ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 16)

Maestro Motion Library Tutorial
MAN-INTUG (Ver. 1.7)
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Figure 1-7: Recording of the polyline trajectory
Any trajectory generated by the Motion Library (single shape or polyline) can be rotated relative to
init point due to vector property vra – rotation angle in degrees.
Example (Motion Mathematic Lib Samples\ Vector_2D \ LineCircleRotated –
www.elmomc.com )
// The same polyline rotated at –90 degrees relative to init point
v1.vac = 28000000 //max vector acceleration
v1.vdc = 28000000 // max vector deceleration
v1.vum = 1 // build trajectory in max velocity mode
v1.vra = -90 // rotate spline 90 degrees relative to init point
v1.starts() // begin polyline trajectory
v1.vsc = 2 // smooth intersection with fixed switch radius
v1.vsp = 50000 // max velocity for the line segment
v1.vse = 50000 // end velocity
v1.addline(100000, 100000) // request to add line shape
v1.vsp = 50000 // maximum velocity for the circle segment
v1.vse = 0 // end velocity for the circle segment
v1.vsr = 10000 // switch radius
v1.addcircle(50000,225,180) //request to add circle arc shape
v1.ends() // end polyline trajectory