B.7.1.3 grouptrj, B-28 – ElmoMC Multi-Axis Motion Controller-Maestro User Manual

Page 280

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//use group as array of axis

for

i=0:G1.size-1

G1[i].rm = 0 //The reference is

generated by the interpreter command or by the user
program.

G1[i].mo = 0

wait(10)

G1[i].sf = 0

G1[i].um = 5

G1[i].ll[2]

-833333

G1[i].hl[2] = 833333

G1[i].VH[2] = 750000

G1[i].VL[2] = -750000

G1[i].ll[3]

-1000000000

G1[i].hl[3] = 1000000000

G1[i].VL[3] = -999999990

G1[i].VH[3] = 999999990

end

for

end function

B.7.1.3 GroupTrj

function run()

sync(0,30)

InitGroup(G1)

G1.gtm=1 // init pvt

a1.px = -12800

a2.px = 12800

G1.mo=1
wait(100)

a1.dotrj(X)
a2.dotrj(Y)

end function

function InitGroup(GROUP group)
int i

// for each axes on the grope "G1"

for