Elmomc Multi-Axis Motion Controller-Maestro Manual de usuario Pagina 6
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7.2 Receive Answer from Maestro ........................................................................... 7-1
Chapter 8: The Recorder ................................................................................................................8-1
8.1 Accessing the Recorder....................................................................................... 8-1
Chapter 9: The CANopen Configurator.......................................................................................9-1
9.1 Microsoft .Net Framework Installation Notes.................................................. 9-1
9.2 CANopen Configurator GUI.............................................................................. 9-3
9.3 Connecting to a Maestro ..................................................................................... 9-3
9.4 Create a Configuration Set.................................................................................. 9-4
9.4.1 Method 1: Online Configuration Set ...................................................... 9-4
Adding and Deleting Nodes............................................................................... 9-5
9.4.2 Method 2: Configuration Set from an Existing File .............................. 9-5
9.4.3 Exporting a Node Set ............................................................................... 9-6
9.5 Identifying and Resolving Network Problems................................................. 9-6
9.6 Configuration Status Report............................................................................... 9-8
9.7 CANopen Configurator Options ....................................................................... 9-9
9.7.1 Changeable Properties............................................................................. 9-9
Chapter 10: Axis DS402 Command Reference..........................................................................10-1
10.1 Modes of Operation........................................................................................... 10-1
10.1.1 Device State Machine Control...............................................................10-3
10.1.2 State Machine Operation Reactions......................................................10-7
10.1.3 Parameter limits .....................................................................................10-9
10.1.4 The Motor Manipulation Macro Command MO ..............................10-11
10.2 Profile Position (PP) Mode ............................................................................. 10-12
10.2.1 Profile Position (PP) Commands ........................................................10-12
10.2.2 Profile Position Commands Usage.....................................................10-14
10.2.2.1 Profile Position Motion Implementation ........................................10-14
10.2.2.2 Profile position Mode Commands description..............................10-16
10.2.2.3 Features of Profile Position Operating Mode Using for Group
(Vector) 10-17
10.3 Profile Velocity (PV) Mode............................................................................. 10-20
10.3.1 Profile Velocity (PV) COMMANDS ...................................................10-20
10.3.2 Profile Velocity Commands ................................................................10-21
10.3.3 Profile Velocity Mode Commands Description ................................10-22
10.3.4 Features of Profile Velocity operating Mode Using for Group (Vector)10-22
10.4 Interpolated Position (IP) Mode..................................................................... 10-24
10.4.1 Interpolated Position (IP) Commands................................................10-26
10.4.2 Using Interpolated Position Commands............................................10-28
10.4.2.1 Implementing Interpolated Position Motion .................................10-28
10.4.2.2 Interpolated Position Mode Commands Description....................10-30
10.4.2.3 Features of Interpolated Position Operating Mode Using for Group
(Vector) 10-35
10.5 Homing (HM) mode........................................................................................ 10-36
10.5.1 Homing (HM) Commands ..................................................................10-36
10.5.2 Using Homing Commands..................................................................10-37
10.5.2.1 Homing Implementation..................................................................10-37
10.5.2.2 Description of Homing Mode Commands .....................................10-38
10.5.2.3 Features of Homing Operating Mode Using for Group (Vector).10-38
Maestro Software Manual Contents
MAN-MAMSW (Ver. Q)
iv
- 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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