ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 35)

4.2.3 Axis Functions
Motion functions apply to Maestro programs only. Axis related functions are listed below:
• To call a function:
<Return Value>=<Axis name>.Function[([Parameters])]
Function addpoint - add PVT point to user's trajectory sequence
Call Format < Axis_name>.addpoint(<Pos >,<Vel >, <T>)
Parameters <Pos > - position for PVT point (counts),
<Vel > - velocity for PVT point (counts per second),
<T> - interpolation period for PVT point (milliseconds)
Return Value OK or FAILED: Error message
Example
a1.addpoint(1000, 30000, 10)
For more information see the starts and ends function
(see Appendix B.1.2.2 Add Point Sample)
Function dotrj – Do Trajectory
Explanation Used to initialize the PVT mechanism and load the initial portion of the
PVT trajectory table to an axis and start motion.
Start motion is delayed. The delay specified by the ADT command.
The default delay value is 20 ms.
By comparison the trj command requires a bg command to start motion.
Call Format <Axis name>.dotrj(<Trajectory name>)
Parameters <Trajectory name> - name of PVT table (trajectory)
Return Value OK: Trajectory name
FAILED: Error message
Example A1.dotrj(table)
for axis name A1 run trajectory name “table”
(see Appendix B.1.2.2 Add Point Sample)
Function ends - user's trajectory sequence for Axis motion object
(latest operator in startp(starts) – ends sequence)
Call Format < Axis_name>.ends()
Return Value OK: Ok
FAILED: Error message
Example a1.startp(mytable) the trajectory name mytable
a1.addpoint(10, 1000, 10)
a1.addpoint(1000, 30000, 10)
………….
a1.addpoint(5000, 1000, 10)
a1.ends() after this the trajectory named “mytable” will contain the user’s PVT
table
(see Appendix B.1.2.1 Circle Sample)
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
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