ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 20)

Chapter 4: General and Motion
Instructions; Configuration Tools
This chapter describes the Maestro input/output and motion objects, instructions and CAN
configuration tools.
The Maestro Multi-Axis Controller supports the following set of Input/Output Objects:
• Internal Maestro I/O Objects: the Maestro has eight Digital Inputs,
eight Digital Outputs and four Analog Inputs.
• External CAN I/O: the Maestro can control external I/Os that conform
to the CANopen DS 401 protocol and use the I/Os on Elmo SimplIQ
devices.
The Maestro Multi-Axis Controller supports the following set of Motion Objects:
• Axis is the most basic Maestro motion object and it is used to control
the motion of a single motor/axis.
• Vector2D: This object is comprised of two axes of the same type and it
is used to define two dimensional trajectories.
• Vector3D: This object is comprised of three axes of the same type and it
is used to define two dimensional trajectories.
• Group is a composite Maestro motion object that is comprised of two or
more Maestro axes of the same type. This object can be used to
synchronize the operation of all the axes in the group.
All motion objects use the same set of Motion Instructions, which include:
• Commands – instructions sent to an axis (these are similar to the commands
used by SimplIQ drives and are described in the SimplIQ Command Reference).
• Properties – system parameters used to set the behavior of the Maestro
.
• Functions – a pre-defined set of motion functions.
There is also a unique set of functions called CAN Bus Configuration Tools that are used to
set up an LSS slave.
Motion instructions can be sent from a terminal or from a
Maestro user program.
Maestro Software Manual
MAN-MASSW (Ver. Q)
4-1