ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 285)

B.8.5 VectorAxisMove
int trjPointsArr[10,2]
int ind
function run()
global int trjPointsArr[]
global int ind
ind=1
InitAxis(a1)
InitAxis(a3)
sync(0,
10)
//send a sync signal to CAN bus 0 every 10ms
trjPointsArr[0,0]= 0 //set coor. x0
trjPointsArr[1,0]= 10000 //set coor. x1
trjPointsArr[2,0]= 0 //set coor. x2
trjPointsArr[3,0]= 15000 //set coor. x3
trjPointsArr[4,0]= 0 //set coor. x4
trjPointsArr[5,0]= 20000 //set coor. x5
trjPointsArr[6,0]= 0 //set coor. x6
trjPointsArr[7,0]= 30000 //set coor. x7
trjPointsArr[8,0]= 0 //set coor. x8
trjPointsArr[9,0]= 40000 //set coor. x9
trjPointsArr[0,1]= 0 //set coor. y0
trjPointsArr[1,1]= 10000 //set coor. y1
trjPointsArr[2,1]= 0 //set coor. y2
trjPointsArr[3,1]= 15000 //set coor. y3
trjPointsArr[4,1]= 0 //set coor. y4
trjPointsArr[5,1]= 20000 //set coor. y5
trjPointsArr[6,1]= 0 //set coor. y6
trjPointsArr[7,1]= 30000 //set coor. y7
trjPointsArr[8,1]= 0 //set coor. y8
trjPointsArr[9,1]= 40000 //set coor. y9
homing(a1, trjPointsArr[0,0]) //set coor. x to 0
homing(a3, trjPointsArr[0,1]) //set coor. y to 0
setWorkMode()
drawTrj()
//wait until both axes have stopped
while ((a1.ms==2)||(a3.ms==2))
wait(1)
end
while
end function
function InitAxis(AXIS axis)
axis.mo
= 0
axis.rm = 0 //The reference is generated by the
// interpreter command or by the user program.
wait(10)
axis.sf = 0
axis.um = 5 //set unit mode
axis.sd = 1000000000
// set velocity and position limits
axis.ll[2] = -833333
axis.hl[2] = 833333
axis.VH[2] = 750000
axis.VL[2] = -750000
axis.ll[3]
= -1000000000
axis.hl[3] = 1000000000
axis.VL[3] = -999999990
axis.VH[3] = 999999990
end function
function setWorkMode()
v1.vum=1 //build trajectory in max. velocity mode
v1.vsc=0
v1.vtm=1 //enable PVT motion initialization
v1.vac = 1000000000
v1.vdc = 1000000000
end function
function homing(AXIS axis, int home_pos)
axis.px = home_pos
axis.mo = 1
wait(10)
axis.pa = home_pos
axis.bg
end function
function drawTrj()
global int trjPointsArr[]
int i
v1.starts()
// begin trj
v1.vsp = 100000 //max. velocity
v1.vse = 0 //end velocity
for i=1:(trjPointsArr.size[0]-1)
v1.addline(trjPointsArr[i,0],trjPointsArr[i,1])
//create line from current point to coordinate
v1.adddwell(700)
end
for
v1.ends() // end trj
a1.ui[1]=trjPointsArr[1,0]
v1.bg
end function
function misha()
global int trjPointsArr[]
int i
v1.vsp
= 30000 //max. velocity
v1.vse = 0 //end velocity
v1.line(10000,10000)
v1.bg
end function
// Emergency handler calls then a CANopen
emergency message appears on the bus.
function @emcy(int busId, int nodeId, int
first4bytes, int last4bytes)
global int ind
global int trjPointsArr[]
ind++
if(ind>trjPointsArr.size[0]-1)
ind=1
else
a1.ui[1]=trjPointsArr[ind,0]
end
if
//TRACE( "Emergency: bus %, node %",
busId, nodeId )
end function
Maestro Software Manual Appendix B: Sample Programs
MAN-MASSW (Ver. Q)
B-33