Elmomc Multi-Axis Motion Controller-Maestro manuali

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Elmomc Multi-Axis Motion Controller-Maestro Manuale Utente (313 pagine)

Marchio: Elmomc | Categoria: Software | Dimensione: 5.22 MB |

Inglese

Indice

Software Manual

1

Important Notice

2

Contents

3

Software Manual Contents

10

Chapter 1: Introduction

12

1.2 Supplementary Documents

13

1.3 Command Specification

14

1.4 Scope

14

Maestro software

15

Maestro to do so

15

2.4 The Kernel

16

2.5 Motion Manager

17

3-2 Right Mouse Button

18

circle

22

4.1 General Functions

23

4.2 Axis

31

4.2.3 Axis Functions

35

4.3 Vector

37

Example

38

Circle Sample)

40

Property

41

4.3.3 Vector 2D Functions

43

4.3.4 Vector 3D Functions

48

4.4 Group

53

4.4.3 Group Functions

55

4.4.4 Group Arrays

56

4.6 I/O Functions

59

4.6.2.1 Digital Input

61

4.6.2.2 Digital Output

62

5.1 Lexical Conventions

63

5.1.2 Identifiers

64

5.1.3 MAXL Keywords

64

5.1.4 Punctuators

65

5.1.5 Operators

65

5.1.6 Literals

67

Integer Constant

67

Floating-Point Constant

69

5.2 Basic Concepts

70

Array Declarations

71

5.2.3.2.1 exit Operator

72

5.2.4 Types

73

5.2.4.1 Fundamental Types

73

Object Types

73

5.3 Standard Conversions

74

5.4 Expressions

75

5.4.1.2 Postfix Expressions

76

• Unary Plus Operator (+)

77

• Unary Minus Operator (–)

77

• Logical NOT Operator (!)

77

5.4.1.4.2

79

MAXL Logical Operators

83

Simple Assignment

84

Size of Array

84

Order of Evaluation

85

5.5 Statements

86

5.5.2 Selection Statements

87

The MAXL if Statement

87

5.5.3 Iteration Statements

89

The MAXL while Statement

89

5.5.4 Jump Statements

90

5.6 Functions

92

Examples:

94

5.6.2 Built-in Functions

95

function-body

96

5-8 below describes the

99

MAN-MASSW (Ver. Q)

100

5.9 Static Variables

102

Command Interpreter

103

Program Interpreter

104

Chapter 6: The Maestro API

108

6.2 MAC_Uninitialize

109

6.3 MAC_CreateTCPConnection

110

8, 1, 0 );

111

6.5 MAC_CloseConnection

112

6.6 MAC_SendCommand

112

6.7 MAC_LocateDevices

113

6.8 MAC_GetDevice

114

6.9 MAC_GetIpByName

114

6.10 MAC_IsDevicePresent

115

6.11 MAC_LocateObjects

115

6.12 MAC_GetObject

116

6.13 MAC_DownloadTrajectory

118

6.14 MAC_RemoveTrajectory

118

6.15 MAC_DownloadProgram

119

6.16 MAC_RemoveProgram

119

6.17 MAC_DownloadResources

120

6.19 MAC_UploadLog

121

6.21 MAC_GetLastError

123

6.22 MAC_InitEvents

123

6.23 MAC_DeinitEvents

124

6.24 MAC_RegCloseCallback

124

Chapter 7: RS-232 Protocol

129

Specification

129

Chapter 8: The Recorder

131

Maestro Software Manual

135

9.3 Connecting to a Maestro

137

9-7: Selecting a Baud Rate

138

Adding and Deleting Nodes

139

9.5 twork Problems

140

Identifying and Resolving Ne

140

9-13)

141

9.7.1 Changeable Properties

143

9-17)

144

Reference

146

O O O M O M M M M

150

MSB LSB

150

10.1.3 Parameter limits

154

Example 1.1

160

Group (Vector)

162

Using for Group (Vector)

167

TΔ TΔ TΔ TΔ

175

- Homing offset

181

10.7 DS402 Command List

187

Chapter 11: Ethernet IP

203

Communication

203

11.3 Product Classes

205

Figure 11-4)

206

11.5.1.2 Using syntax

210

11.5.2.2 Using syntax

214

11.6.2 Using syntax

217

11-20

218

11.7.2 Using syntax

219

11.7.2.2 Maestro Program

220

12.1.1 Ethernet media

222

12.2 Serial RS-232 media

223

Functions

224

12.5.2 MODBUS TCP master

234

12.5.3 MODBUS Serial Master

235

12.5.4 MODBUS TCP Slave

235

12.5.5 MODBUS Serial Slave

236

1. coils

237

2. discreteInputs

237

3. inputRegisters

237

12.7 MODBUS Protocol Errors

238

Download SDO - 8 bit

244

Download SDO - 16 bit

245

Download SDO - 32 bit

245

Upload SDO - 8 bit

246

Upload SDO - 16 bit

246

Upload SDO - 32 bit

247

Heartbeat Handling

247

User Message Methods

248

Maestro

251

: Setting the Node ID

252

: Node ID Inquiry

252

Appendix B: Sample Programs

253

B.1 Graphic Primitives

255

B.1.2.2 Add Point Sample

256

B.1.3 Line to Line Samples

257

B.1.5.1 Circle to Line

259

B.1.6 Polygon Sample

260

B.2 Motion Mathematics

261

B.3 Basic Programming

261

B.3.5 If Sample

262

B.3.6 If-Else Sample

263

B.3.7 If-Else-If Sample

263

B.3.8 Label and GoTo Sample

263

B.3.10 Program Call

264

B.3.11 Switch Sample

264

B.3.12 While Sample

264

B.3.13 Array Samples

265

B.3.13.5 Drill Machine

266

B.4 Callbacks Functions

267

B.4.4 EmitCallback Samples

268

B.4.5 InputCallBack Samples

269

B.4.5.2 InputOutputTest1

271

B.4.5.3 InputOutputTest2

272

B.4.6.1 MCompleteCallback

273

B.5 Homing

275

B.6 Inputs

276

sum = 0

278

B.7.1.2 GroupCommonInit

279

B.7.1.3 GroupTrj

280

B.8 Etc

281

B.8.3 SendMessage

283

B.8.4 Poin2Point

284

B.8.5 VectorAxisMove

285

D.1 Error Structure:

288

D.2 Common Zone Errors

289

D.4.2 Fatal Errors

295

D.5.1.3 Error 0005

297

D.5.1.4 Error 0006

297

D.5.1.5 Error 0010

297

D.5.1.6 Error 0011

297

D.5.1.7 Error 0012

298

D.5.1.8 Error 0013

298

D.5.1.9 Error 0014

298

D.5.1.10 Error 0015

298

D.5.1.11 Error 0017

299

D.5.1.12 Error 0021

299

D.5.1.13 Error 0022

299

Error 0023

300

Error 0028

300

Error 0030

300

D.5.1.17 Error 0040

300

≥ 1.0 (vsp≥1)

301

Error 0050

301

Error 0051

301

≥ 1.0 (SweepAngle ≥1)

301

D.5.1.23 Error 0062

302

D.5.1.24 Error 0063

302

D.5.1.25 Error 0067

302

D.5.1.26 Error 0068

302

Error 0074

303

D.5.1.29 Error 0076

303

D.5.1.30 Error 0077

304

D.5.1.31 Error 0079

304

D.5.1.32 Error 0080

304

D.5.1.33 Error 0081

304

D.5.1.34 Error 0082

305

D.5.1.35 Error 0084

305

D.5.1.36 Error 0085

305

D.5.1.37 Error 0089

305

D.5.1.38 Error 0096

306

D.5.1.39 Error 0098

306

D.5.1.40 Error 0100

306

D.5.1.41 Error 0101

307

D.5.1.42 Error 0102

307

D.5.1.43 Error 0103

307

D.5.1.44 Error 0104

307

D.5.1.45 Error 0105

308

D.5.2.1 Warning 0001

308

D.5.2.2 Warning 0002

308

D.5.2.3 Warning 0003

308

D.5.3 Additional Errors

310

D.5.3.4 Error 0202 0049

311

D.5.3.5 Error 0202 0052

311

D.5.3.6 Error 0202 0069

311

D.5.3.7 Error 0202 0086

311

D.5.3.8 Error 0202 0092

312

D.5.3.9 Error 0202 0093

312

D.5.3.10 Error 0202 0095

312

D.5.3.11 Error 0202 0112

312

D.5.3.12 Error 0202 0113

313

D.5.3.13 Error 0016

313

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