ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 258)

Maestro Software Manual Appendix B: Sample Programs
MAN-MASSW (Ver. Q)
v1.mo=0 // motor off
a1.px=-10000 //x now at -10000
a2.px=10000 //y now at 10000
v1.mo=1 //motor on
v1.vum=1 //build trajectory in max. velocity mode
v1.vsc=1 //smooth intersection with max. velocity
v1.vtm=1 //enable PVT motion initialization
v1.vac = 28000000 //max acceleration
v1.vdc = 28000000 //max deceleration
v1.starts() // begin building trajectory
v1.vsp = 30000 // maximum velocity of line
v1.vse = 30000 // end velocity of line
v1.addline ( 0,0) // go to (0,0)
v1.vsp = 10000 // maximum velocity of circle
v1.vse = 0 // end velocity of circle
v1.addcircle( 5000,180,180 ) //create circle with a radius of 5000 starting at 180 deg. for 180 deg.
// in the clockwise direction
v1.ends() // end trajectory build
v1.bg // start motion
while
(a1.ms==2)||(a2.ms==2)//wait until both axes have stopped
wait(10)
end
while
end function
B.1.4.2 Line to Circle with Homing
function run()
a1.rm = 0 //The reference is generated by the interpreter command or by the user program.
a2.rm = 0
sync(0, 20) //send sync to CANbus 0 every 20ms
homing()
v1.mo=0 // motor off
a1.px=-10000 //x now at -10000
a2.px=10000 //y now at 10000
v1.mo=1 //motor on
v1.vum=1 //build trajectory in max. velocity mode
v1.vsc=1 //smooth intersection with max. velocity
v1.vtm=1 //enable PVT motion initialization
v1.vac = 28000000 //max acceleration
v1.vdc = 28000000 //max deceleration
v1.starts() // begin building trajectory
v1.vsp = 30000 // maximum velocity of line
v1.vse = 30000 // end velocity of line
v1.addline ( 0,0) // go to (0,0)
v1.vsp = 10000 // maximum velocity of circle
v1.vse = 0 // end velocity of circle
v1.addcircle( 5000,180,180 ) // create circle with a radius of 5000
// starting at 180 degrees for 180 degrees
// in the clockwise direction
v1.ends() // end trajectory build
v1.bg // start motion
while
(a1.ms==2)||(a2.ms==2)//wait until both axes have stopped
B-6