ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 55)

Property GTM – Group Tabulated Motion – used to initialize PVT motion
for all members of a group
Explanation Used to prepare the group for PVT motion when the trajectory is
set for maximum velocity, fixed time or fixed velocity.
Send this before the PVT tables for each member of the group
have been downloaded.
Groups use "ready-made" PVT tables only (not trajectories
created with the Motion Library).
Default 0
Limitation 0 – disable, 1 – enable
Type Unsigned integer
4.4.3 Group Functions
• To call function:
<Return Value>=<Group name>.Function [([Parameters])]
Function attach – used to synchronize all members of the Group according the
resource file.
The attach function must be called before the first group operation.
Explanation Sometimes more than one group object "shares" an axis. If the axis
were used simultaneously by several members of a group then
errors will occur. Attach is used to tell the axis which group member
to work with at any given time.
Call Format <Group name>.attach()
Return Value OK or FAILED : Error message
Example G1.attach()
Function detach – cancel Group synchronization.
Group operation calls, after detach, and cause a RUNTIME error.
Explanation Sometimes more than one group object "shares" an axis. If the axis
were used simultaneously by several members of a group then
errors will occur. Detach is used to free an axis from the group
member it is working with.
Call Format <Group name>.detach()
Return Value OK or FAILED : Error message
Example G1.detach()
Function error – to get motion object last error
Call Format <Group name>.isok
Return Value OK or FAILED : Error message
Limitation Terminal only
Example Grp.error
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
4-36