ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 51)

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 is 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>, int <Pos Z>)
Parameters int <Pos X>, int <Pos Y >, int < Pos Z> - destination position of linear
trajectory (counts), beginning of trajectory – current position
Return Value OK or FAILED : Error message
Example Vec1.line(1000, 2000, 7000); Vec1.bg
3D line trajectory program examples can be found in Samples Tutorial –
Motion Library Tutorial Examples – Vector 3D
Function splinee - closes a spline trajectory sequence for Vector2D and Vector3D
objects
Call Format <Vector name>.splinee()
<Vector name>.splinee(int parameter)
If parameter≠0 three PVT tables for axes X,Y and gear are built
Return Value OK or FAILED : Error message
Example v1.splines(mytable) - begin the trajectory with file name mytable
v1.splinep(10, 1000)
v1.splinep(1000, 30000)
………….
v1.splinep(5000, 1000)
v1.splinee() - after this, the trajectory file named “mytable” will contain PVT
table for the spline 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)
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