ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 166)

Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-21
• vmc - motion completed callback control
Group properties in PV mode:
• gnv - negative velocity polarity
• gto - status word waiting timeout
• gwm - motion completed waiting
• gmc - motion completed callback control
10.3.2 Profile Velocity Commands
Figure 10-6: Profiled Velocity Motion Algorithm
The following command sequence can implement a profile position motion:
function run()
sync( 0, 10 ) //work with DS402 motion object required sync mechanism
a1.opm=3 //select operation mode for axis a1
a1.ato=10000
//statusword waiting timeout
a1.pac=10000000 //define acceleration
a1.pdc=10000000 //define deceleration
a1.prv=10000000 //define quick stop deceleration
a1.pvt=100 //define velocity threshold
a1.pvtt=2 //define velocity threshold time
a1.pvw=100 //define velocity windows
a1.pvwt=2 //define velocity windows time
a1.mo=1 //motor on command
a1. ptv=5000 //set target velocity (and begin motion)
a1.awm //wait for velocity reached (bit 10 of SW is ON)
wait(1000)
//wait 1 sec
a1.ptv=20000
//set target velocity
a1.awm //wait for velocity reached (bit 10 of SW is ON)
wait(10000) //wait 10 sec
a1.ptv=5000
//set target velocity
a1.awm //wait for velocity reached (bit 10 of SW is ON)
wait(1000)
//wait 1 sec
a1.ptv=0
// set target velocity
a1.awm //wait for velocity reached (bit 10 of SW is ON)
a1.mo=0
//motor off command
end function