ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 46)

Function ends - closes a polyline trajectory sequence and a sequence of user defined
PVT points
Call Format <Vector name>.ends()
Return Value OK or FAILED : Error message
Example v1.startp(mytable) - begin the trajectory name mytable
v1.addpoint(10, 1000, 20, 2000, 10)
v1.addpoint(1000, 30000, 4000, 50000, 10)
………….
v1.addpoint(5000, 1000, 4000, 2000, 10)
v1.ends() - after this, the trajectory name “mytable” contains the user’s PVT
table
* * *
v1.start(mytable) - begin the polyline trajectory "mytable"
v1.addline(1000,2000)
v1.addcircle(1000, 180, -180)
………….
v1.addline(5000, 1000)
v1.ends() - after this the trajectory file “mytable” contains an updated PVT
table
(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 error – request info about the last error
Call Format <Vector name>.isok
Return Value OK or FAILED : Error message
Limitation Terminal only
Example V.error
Function isok – used to verify if all OK
Call Format <Vector name>.isok
Return Value OK or FAILED : Error message
Limitation Terminal only
Example V.isok
Function line - builds a linear trajectory from point to point
Call Format <Vector name>.line(int <Pos X>, int <Pos Y>)
Parameters int <Pos X>,<Pos Y> - destination position of linear trajectory (counts),
beginning of trajectory – current position
Return Value OK or FAILED : Error message
Example Vec1.line(1000, 2000); Vec1.bg (see Appendix B.1.1 Line Sample)
Line trajectory program examples can be found in
Samples Tutorial – Motion Library Tutorial Examples – Vector 2D
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
4-27