ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 48)

Function startp - begin user’s PVT vector trajectory sequence
Call Format <Vector name>.startp()
<Vector name>.startp(<Trajectory name >)
Parameters <Trajectory name> - name of Vector PVT table (trajectory) to be saved
Return Value OK or FAILED : Error message
Example V1.startp() - begin user’s PVT trajectory by saving the results in a file.
V1.startp(traj_name) - begin user’s PVT trajectory and save result in a file
with the name “traj_name”
For more information see the vector ends function example.
(see Appendix B.1.2.2 Add Point Sample)
Function starts - begin polyline trajectory sequence for a vector object
Call Format <Vector name>.starts()
<Vector name>.starts(<Trajectory name >)
Parameters <Trajectory name> - name of the Vector PVT table (trajectory) to be saved
Return Value OK or FAILED : Error message
Example V1.starts() - begin polyline trajectory calculation
For more information see the vector ends function example.
(see Appendix B.1.3.1 Line-to-Line Sample)
Polyline trajectory program examples can be found in
Samples Tutorial – Motion Library Tutorial Examples – Vector 2D
Function trj – used to initialize PVT mechanism and load the Vector PVT trajectory
table in each axis of the vector
Call Format <Vector name>.trj(<Trajectory name>)
Parameters <Trajectory name> - name of the Vector PVT table (trajectory)
Return Value OK or FAILED : Error message
Example v1.trj(table); v1.bg
for the vector v1 run trajectory “table ”
4.3.4 Vector 3D Functions
• To call a function:
<Return Value>=<Vector name>.Function [([Parameters])]
Function adddwell - add delay to a PVT trajectory at the end of a segment
Call Format adddwell(int delay)
Parameters int delay - delay value in milliseconds
Example together with addline,
Function addline - add linear segment to the polyline trajectory sequence for the
vector motion object
Call Format <Vector name>.addline(int <Pos X>,int <Pos Y>, int <pos Z >)
Parameters int <Pos X>, int <Pos Y>, int <Pos Z> - destination position of linear segment
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
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