ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 37)

4.3 Vector
4.3.1 Vector Motion Commands
Vector commands can be sent simultaneously or serially according to VSM value -
simultaneously to a Vector or serially to individual axes (components of a vector). However,
only the parcel sent serially to the axes provides a reliable check of operating performance
results. When commands are sent individually, in a serial manner, the results of each
motion can be checked. If a vector is sent as a group (simultaneously), the results cannot be
checked.
A vector is a set of axes that provide two or three dimensional interpolated motion.
When a vector is active, the member axes can receive commands not only from it, but also
from the axes' objects.
A Vector cannot be activated if one of its member Axes is a member of another active
Vector. Access condition is set by attach/detach operator
• To send a set parameter value:
< Vector name>.Command [=<Value>]
For example:
V1.AC = V1.DC=1000000;
V1.MO = 0;
V2.BG;
V2.ST.
4.3.2 Vector Properties
• To set a property value:
< Vector name>.Property=<Value>
• To get a property value:
<Value>=< Vector name>. Property
All properties are valid for Vector2D and Vector3D
Property VAC - vector acceleration
Dimension Counts per second squared
Default 28000000
Limitation
Type Unsigned integer
Example (see Appendix B.1.2.1 Circle Sample)
Property VAE - calculated acceleration margin
Explanation Prevents the Maestro's calculated trajectory from exceeding the
maximum Axis acceleration.
Default 0.9
Limitation 0-1 Type Float
Example
Property VBT - synchronized start command delay
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
4-18