ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 275)

B.4.6.2 MotionCompleteTest
int g_iMC
// Entry point of the application.
function run()
// TODO: Global Variables Declaration
inside the Function...
global int g_iMC
// TODO: Local Variables Declaration...
int iTimes,i
int T1,T2
int iPos1,iPos2
// TODO: Add your specialized code here...
g_iMC = 0
iTimes = 11
InitAxis(a1)
InitAxis(a2)
homing(a1,
0)
homing(a2, 0)
iPos1 = 100000
iPos2 = 10000
for i=0: iTimes
AxisMoving(a1, iPos1)
iPos1 = iPos1 * (-1)
AxisMoving(a2, iPos2)
iPos2 = iPos2 * (-1)
AxisMoving(a2, iPos2)
iPos2 = iPos2 * (-1)
end for
end function
function homing(AXIS axis, int home_pos)
global int g_iMC
int iTR_1
int iTR_2
g_iMC = 0
axis.TR[1] = 100
axis.TR[2] = 0
axis.px = home_pos
axis.mo = 1
wait(20)
axis.pa = home_pos
axis.bg
until(axis.aid == g_iMC)
end function
function AxisMoving(AXIS axis, int pos)
global int g_iMC
axis.pa = pos
axis.bg
until(axis.aid == g_iMC)
g_iMC=0
end function
// Motion Completed handler calls then a target
// position reached.
function @motioncompleted(int busId, int objId)
global int g_iMC
g_iMC = objId
//
TRACE( "Motion completed for object %", objId )
end function
function InitAxis(AXIS axis)
axis.mo
= 0
axis.amc = 1
axis.rm = 0
//The reference is generated by the interpreter
//command or by the user program.
wait(10)
axis.sf = 0
axis.um = 5 //set unit mode
// set velocity and position limits
axis.ll[2] = -833333
axis.hl[2] = 833333
axis.VH[2] = 750000
axis.VL[2] = -750000
axis.ll[3]
= -1000000000
axis.hl[3] = 1000000000
axis.VL[3] = -999999990
axis.VH[3] = 999999990
axis.sp = 200000
end function
B.5 Homing
B.5.1 Wall Homing
// This routine is used to home from a "wall"
int g_iAxisNum
function run()
global int g_iAxisNum
int TimeOut
Maestro Software Manual Appendix B: Sample Programs
MAN-MASSW (Ver. Q)
B-23