Elmomc Multi-Axis Motion Controller-Maestro Instrukcja Użytkownika Strona 181
- Strona / 313
- Spis treści
- BOOKMARKI
Oceniono. / 5. Na podstawie oceny klientów
• If the interpolation data is generated by the user, then the last point
should be sent twice if the user wants to stop motion with speed 0.
10.5 Homing (HM) mode
Homing mode gives an opportunity to a DS402 Axis to seek the home position (also
called the datum, (reference point or zero point). Homing can be performed using
limit switches at the ends of travel or a home switch (zero point switch to signal home
position) in mid-travel; most of the homing methods also use the index (zero) pulse
train from an incremental encoder. For a more detailed description of DSP 402 HM
Mode, see in the Homing section of “Elmo CANopen DS 402 Implementation
Guide”.
10.5.1 Homing (HM) Commands
Note: Set and get commands are allowed for Axis objects and only set commands are
allowed for the Vector and Group objects.
The following commands are implemented in HM mode:
Object Index
and Subindex
Full Command Short
Command
Elmo Short
Command
Description
0x609A, 0x00 HomingAcceleration hac - Homing acceleration
0x6099, 0x01 HomingSwitchVelocity
hsv - Speed during search for
switch
0x6099, 0x02 HomingZeroVelocity hzv - Speed during search for
switch
0x607C, 0x00 HomingOffset hof - Homing offset
parameter
0x6098, 0x00 HomingMethod hom - Homing operation
method
0x6040, 0x00
(View Section
11.8, DS402
PDO Mapping
Table)
HomingActive hma hm Homing mode activate
Commands using:
a1.hac=50000
a1.hsv=a1.hzv=1000
a1.hof=200
a1.hom=2
a1.hma=1
Axis properties connected to HM mode:
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-36
- 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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