Document Outline

• Contents
• Chapter 1: Introduction
  • 1.1 Maestro Highlights
  • 1.2 Supplementary Documents
  • 1.3 Command Specification
  • 1.4 Scope
• Chapter 2: Functional Overview
  • 2.1 Functional Block Diagram
  • 2.2 Host Communications Services
  • 2.3 Command Line Interpreter
  • 2.4 The Kernel
  • 2.5 Motion Manager
  • 2.6 CANopen Network Communications Services
• Chapter 3: Host Communications
  • 3.1 Setting Up the Host through Elmo's Studio
  • 3.2 Verifying or Changing the Host
  • 3.3 Choosing the Host through the Composer
• Chapter 4: General and Motion Instructions; Configuration Tools
  • 4.1 General Functions
  • 4.2 Axis
    • 4.2.1 Axis Motion Commands
    • 4.2.2 Axis Properties
    • 4.2.3 Axis Functions
  • 4.3 Vector
    • 4.3.1 Vector Motion Commands
    • 4.3.2 Vector Properties
    • 4.3.3 Vector 2D Functions
    • 4.3.4 Vector 3D Functions
  • 4.4 Group
    • 4.4.1 Group Motion Commands
    • 4.4.2 Group Properties
    • 4.4.3 Group Functions
    • 4.4.4 Group Arrays
  • 4.5 CAN Bus Configuration Tools (for DSP 305support)
  • 4.6 I/O Functions
    • 4.6.1 Maestro I/O Functions
    • 4.6.2 CAN I/O Functions (DS 401 Object Properties)
      • 4.6.2.1 Digital Input
      • 4.6.2.2 Digital Output
• Chapter 5: MAXL Program Language
  • 5.1 Lexical Conventions
    • 5.1.1 Comments
    • 5.1.2 Identifiers
    • 5.1.3 MAXL Keywords
    • 5.1.4 Punctuators
    • 5.1.5 Operators
    • 5.1.6 Literals
      • 5.1.6.1 Integer Constant
      • 5.1.6.2 Named Constant - #define and const.
      • 5.1.6.3 Floating-Point Constant
      • 5.1.6.4 String Literals
  • 5.2 Basic Concepts
    • 5.2.1 Declarations and Definitions
      • 5.2.1.1 Declarations
      • 5.2.1.2 Array Declarations
      • 5.2.1.3 Definitions
    • 5.2.2 Program
    • 5.2.3 Startup and Termination
      • 5.2.3.1 Program Startup – the run Function
      • 5.2.3.2 Program Termination
        • 5.2.3.2.1 exit Operator
        • 5.2.3.2.2 return Operator
    • 5.2.4 Types
      • 5.2.4.1 Fundamental Types
      • 5.2.4.2 Object Types
      • 5.2.4.3 Debug string
  • 5.3 Standard Conversions
  • 5.4 Expressions
    • 5.4.1 Types of Expressions
      • 5.4.1.1 MAXL Primary Expressions
        • 5.4.1.1.1 Names
      • 5.4.1.2 Postfix Expressions
        • 5.4.1.2.1 Get Array Item Operator
        • 5.4.1.2.2 Function-Call Operator
      • 5.4.1.3 Expressions with Unary Operators
        • 5.4.1.3.1 Unary Plus Operator (+)
        • 5.4.1.3.2 Unary Minus Operator (-)
        • 5.4.1.3.3 Logical NOT Operator (!)
      • 5.4.1.4 Expressions with Binary Operators
        • 5.4.1.4.1 MAXL Multiplicative Operators
        • 5.4.1.4.3 MAXL Additive Operators
        • 5.4.1.4.4 MAXL Shift Operators
        • 5.4.1.4.5 MAXL Relational and Equality Operators
          • 5.4.1.4.5.1 Relational Operators
          • 5.4.1.4.5.2 Equality Operators
        • 5.4.1.4.6 MAXL Bitwise Operators
          • 5.4.1.4.6.1 Bitwise AND Operator
          • 5.4.1.4.6.2 Bitwise Exclusive OR Operator
          • 5.4.1.4.6.3 Bitwise Inclusive OR Operator
      • 5.4.1.5 MAXL Logical Operators
        • 5.4.1.5.1 Logical AND Operator
        • 5.4.1.5.2 Logical OR Operator
      • 5.4.1.6 Simple Assignment
      • 5.4.1.7 Size of Array
    • 5.4.2 Semantics of Expressions
      • 5.4.2.1 Order of Evaluation
  • 5.5 Statements
    • 5.5.1 Labeled Statements
      • 5.5.1.1 Using Labels with the goto Statement
      • 5.5.1.2 Using Labels in the case Statement
    • 5.5.2 Selection Statements
      • 5.5.2.1 The MAXL if Statement
      • 5.5.2.2 The MAXL switch Statement
    • 5.5.3 Iteration Statements
      • 5.5.3.1 The MAXL while Statement
      • 5.5.3.2 The MAXL for Statement
    • 5.5.4 Jump Statements
      • 5.5.4.1 The MAXL break Statement
      • 5.5.4.2 The MAXL continue Statement
      • 5.5.4.3 The MAXL return Statement
      • 5.5.4.4 The goto Statement
      • 5.5.4.5 Declaration Statements
  • 5.6 Functions
    • 5.6.1 Function Definition
    • 5.6.2 Built-in Functions
    • 5.6.3 Callback (interrupt) Functions
  • 5.7 Virtual Machine Control Statements
    • 5.7.1 wait control statement
    • 5.7.2 waitvar control statement
    • 5.7.3 until control statement
    • 5.7.4 TRACE control statement
    • 5.7.5 reset control statement
  • 5.8 Difference Between Static and Dynamic Group
    • 5.8.1 Recommendations on using dynamic groups
  • 5.9 Static Variables
    • 5.9.1 Static Variable Definition
    • 5.9.2 Elmo Studio User Interface for Static Variables
    • 5.9.3 Working with Static Variables in the Maestro Command Interpreter
    • 5.9.4 Working with Static Variables in the Maestro Program Interpreter
  • 5.10 Maestro User Program Priority
• Chapter 6: The Maestro API
  • 6.1 MAC_Initialize
  • 6.2 MAC_Uninitialize
  • 6.3 MAC_CreateTCPConnection
  • 6.4 MAC_CreateRS232Connection
  • 6.5 MAC_CloseConnection
  • 6.6 MAC_SendCommand
  • 6.7 MAC_LocateDevices
  • 6.8 MAC_GetDevice
  • 6.9 MAC_GetIpByName
  • 6.10 MAC_IsDevicePresent
  • 6.11 MAC_LocateObjects
  • 6.12 MAC_GetObject
  • 6.13 MAC_DownloadTrajectory
  • 6.14 MAC_RemoveTrajectory
  • 6.15 MAC_DownloadProgram
  • 6.16 MAC_RemoveProgram
  • 6.17 MAC_DownloadResources
  • 6.18 MAC_DownloadResourcesEx
  • 6.19 MAC_UploadLog
  • 6.20 MAC_DownloadSimpleIQFirmware
  • 6.21 MAC_GetLastError
  • 6.22 MAC_InitEvents
  • 6.23 MAC_DeinitEvents
  • 6.24 MAC_RegCloseCallback
  • 6.25 MAC_RegInterruptCallback
  • 6.26 MAC_DownloadSimpleIQProgram
  • 6.27 MAC_DownloadSimpleIQParams
  • 6.28 MAC_DownloadSimpleIQApp
• Chapter 7: RS-232 Protocol Specification
  • 7.1 Send Command to Maestro
  • 7.2 Receive Answer from Maestro
• Chapter 8: The Recorder
  • 8.1 Accessing the Recorder
• Chapter 9: The CANopen Configurator
  • 9.1 Microsoft .Net Framework Installation Notes
  • 9.2 CANopen Configurator GUI
  • 9.3 Connecting to a Maestro
  • 9.4 Create a Configuration Set
    • 9.4.1 Method 1: Online Configuration Set
      • Adding and Deleting Nodes
    • 9.4.2 Method 2: Configuration Set from an Existing File
    • 9.4.3 Exporting a Node Set
  • 9.5 Identifying and Resolving Network Problems
  • 9.6 Configuration Status Report
  • 9.7 CANopen Configurator Options
    • 9.7.1 Changeable Properties
• Chapter 10: Axis DS402 Command Reference
  • 10.1 Modes of Operation
    • 10.1.1 Device State Machine Control
    • 10.1.2 State Machine Operation Reactions
    • 10.1.3 Parameter limits
    • 10.1.4 The Motor Manipulation Macro Command MO
  • 10.2 Profile Position (PP) Mode
    • 10.2.1 Profile Position (PP) Commands
    • 10.2.2 Profile Position Commands Usage
      • 10.2.2.1 Profile Position Motion Implementation
      • 10.2.2.2 Profile position Mode Commands description
      • 10.2.2.3 Features of Profile Position Operating Mode Using for Group (Vector)
  • 10.3 Profile Velocity (PV) Mode
    • 10.3.1 Profile Velocity (PV) COMMANDS
    • 10.3.2 Profile Velocity Commands
    • 10.3.3 Profile Velocity Mode Commands Description
    • 10.3.4 Features of Profile Velocity operating Mode Using for Group (Vector)
  • 10.4 Interpolated Position (IP) Mode
    • 10.4.1 Interpolated Position (IP) Commands
    • 10.4.2 Using Interpolated Position Commands
      • 10.4.2.1 Implementing Interpolated Position Motion
      • 10.4.2.2 Interpolated Position Mode Commands Description
      • 10.4.2.3 Features of Interpolated Position Operating Mode Using for Group (Vector)
  • 10.5 Homing (HM) mode
    • 10.5.1 Homing (HM) Commands
    • 10.5.2 Using Homing Commands
      • 10.5.2.1 Homing Implementation
      • 10.5.2.2 Description of Homing Mode Commands
      • 10.5.2.3 Features of Homing Operating Mode Using for Group (Vector)
  • 10.6 Profiled Torque (PT) Mode
    • 10.6.1 Profiled Torque (PT) Commands
    • 10.6.2 Using Profiled Torque Commands
      • 10.6.2.1 Profiled Torque Implementation
      • 10.6.2.2 Description of the Profiled Torque Mode Command
      • 10.6.2.3 Using the Profiled Torque Mode for a Group (Vector)
  • 10.7 DS402 Command List
  • 10.8 DS402 PDO Mapping table
• Chapter 11: Ethernet IP Communication
  • 11.1 Terms and Abbreviations
  • 11.2 Types of Ethernet/IP Messages
  • 11.3 Product Classes
  • 11.4 Ethernet/IP Module Activation
    • 11.4.1 Ethernet/IP Scanner (Rockwell) Activation
    • 11.4.2 Ethernet/IP Adapter (Maestro) Activation
  • 11.5 UCMM (Unconnected) Messaging
    • 11.5.1 Server (Maestro) UCMM (Unconnected) Messaging
      • 11.5.1.1 User interface to create communication objects
      • 11.5.1.2 Using syntax
        • 11.5.1.2.1 Command interpreter
        • 11.5.1.2.2 Maestro Program
    • 11.5.2 Client (Rockwell) Messaging Support
      • 11.5.2.1 User interface to create communication objects
      • 11.5.2.2 Using syntax
        • 11.5.2.2.1 Command interpreter
        • 11.5.2.2.2 Maestro Program
  • 11.6 Class 1 (I/O) connection server
    • 11.6.1 User interface to create communication objects
    • 11.6.2 Using syntax
  • 11.7 Class 3 (connected) messaging server
    • 11.7.1 User interface to create communication objects
    • 11.7.2 Using syntax
      • 11.7.2.1 Command interpreter
      • 11.7.2.2 Maestro Program
• Chapter 12: MODBUS Implementation
  • 12.1 Master (Client) functionality implementation
    • 12.1.1 Ethernet media
      • 12.1.1.1 TCP communication parameters
  • 12.2 Serial RS-232 media
    • 12.2.1 Communication parameters for ASCII or RTU
  • 12.3 MODBUS Master functionality
    • 12.3.1 MODBUS Master Object Communication Control Functions
    • 12.3.2 MODBUS Master Object Bit Access Functions
    • 12.3.3 MODBUS Master Object 16-bit Access Functions
  • 12.4 Slave (Server) functionality implementation
  • 12.5 MODBUS objects configuration by Elmo Studio: User Interface implementation
    • 12.5.1 Elmo Studio MODBUS window
    • 12.5.2 MODBUS TCP master
    • 12.5.3 MODBUS Serial Master
    • 12.5.4 MODBUS TCP Slave
    • 12.5.5 MODBUS Serial Slave
  • 12.6 MODBUS communication workflow
  • 12.7 MODBUS Protocol Errors
• Chapter 13. Node DS301 Command Reference
  • 13.1 NMT Service
  • 13.2 Sync and Timestamp
  • 13.3 Emergency Handling
  • 13.4 Send PDO
  • 13.5 Initialization of Callback Functions: Receive PDO
  • 13.6 Callback Functions: Receive PDO
  • 13.7 Download SDO - 8 bit
  • 13.8 Download SDO - 16 bit
  • 13.9 Download SDO - 32 bit
  • 13.10 Upload SDO - 8 bit
  • 13.11 Upload SDO - 16 bit
  • 13.12 Upload SDO - 32 bit
  • 13.13 Heartbeat Handling
• Chapter 14: Maestro Message Queue
  • 14.1 User Message Methods
  • 14.2 Using the Maestro Message Queue: Examples
• Appendix A: Setting up the Demo Case
  • A.1 Setting Up the CAN nodes
  • A.2 Checking the CANOpen Network
• Appendix B: Sample Programs
  • B.1 Graphic Primitives
    • B.1.1 Line Sample
    • B.1.2 Circle Samples
      • B.1.2.1 Circle Sample
      • B.1.2.2 Add Point Sample
    • B.1.3 Line to Line Samples
      • B.1.3.1 Line_to_Line Sample
    • B.1.4 Line to Circle Samples
      • B.1.4.1 Line to Circle
      • B.1.4.2 Line to Circle with Homing
    • B.1.5 Circle to Line Samples
      • B.1.5.1 Circle to Line
      • B.1.5.2 Circle-to-Line with Homing Sample
    • B.1.6 Polygon Sample
      • B.1.6.1 Polygon
  • B.3 Basic Programming
    • B.3.4 Global Variable Sample
    • B.3.5 If Sample
    • B.3.6 If-Else Sample
    • B.3.7 If-Else-If Sample
    • B.3.8 Label and GoTo Sample
    • B.3.9 Order of Processing Sample
    • B.3.10 Program Call
    • B.3.11 Switch Sample
    • B.3.12 While Sample
    • B.3.13 Array Samples
      • B.3.13.1 Array
      • B.3.13.2 GroupAsArray
      • B.3.13.3 Int Array2D
      • B.3.13.4 VectorAsArray
      • B.3.13.5 Drill Machine
  • B.4 Callbacks Functions
    • B.4.1 PerrorCallBack
    • B.4.2 EmcyCallback
    • B.4.3 HeartbeatCallBack
    • B.4.4 EmitCallback Samples
      • B.4.4.1 Emit
      • B.4.4.2 EmitCallback
    • B.4.5 InputCallBack Samples
      • B.4.5.1 InputCallBack
      • B.4.5.2 InputOutputTest1
      • B.4.5.3 InputOutputTest2
    • B.4.6 Motion Completed Callback Samples
      • B.4.6.1 MCompleteCallback
      • B.4.6.2 MotionCompleteTest
  • B.5 Homing
    • Wall Homing
  • B.6 Inputs
    • B.6.1 MaestroAnalogInputs
    • B.6.2 Input Callback
    • B.6.3 InputOutputTest1
    • B.6.4 InputOutputTest2
  • B.7 Motion Objects
    • B.7.1 Group Objects
      • B.7.1.1 GroupCommonBg
      • B.7.1.2 GroupCommonInit
      • B.7.1.3 GroupTrj
  • B.8 Etc.
    • B.8.1 Adddwell Sample
    • B.8.2 Elmo Logo Outline Sample
    • B.8.3 SendMessage
    • B.8.4 Poin2Point
    • B.8.5 VectorAxisMove
• Appendix C: Performance Considerations
• Appendix D: Maestro System Errors
  • D.1 Error Structure:
  • D.2 Common Zone Errors
    • D.2.1 Root-level Error Codes:
    • D.2.2 Root-level Warning Codes:
    • D.2.3 Top-level Error Codes:
  • D.3 CAN Communication Zone Errors
    • D.3.1 Root-level Error Codes:
    • D.3.2 Root-level Warning Codes:
    • D.3.3 Top-level Error Codes:
  • D.4 Virtual Machine Zone Errors
    • D.4.1 Root-level Error Codes:
    • D.4.2 Fatal Errors
    • D.4.3 Root-level Warnings Codes:
    • D.4.4 Top-level Error Codes:
  • D.5 Mathematical Library Zone Errors
    • D.5.1 Root-level Error Codes:
      • D.5.1.1 Error 0001
      • D.5.1.2 Error 0003
      • D.5.1.3 Error 0005
      • D.5.1.4 Error 0006
      • D.5.1.5 Error 0010
      • D.5.1.6 Error 0011
      • D.5.1.7 Error 0012
      • D.5.1.8 Error 0013
      • D.5.1.9 Error 0014
      • D.5.1.10 Error 0015
      • D.5.1.11 Error 0017
      • D.5.1.12 Error 0021
      • D.5.1.13 Error 0022
      • D.5.1.14 Error 0023
      • D.5.1.15 Error 0028
      • D.5.1.16 Error 0030
      • D.5.1.17 Error 0040
      • D.5.1.18 Error 0041
      • D.5.1.19 Error 0047
      • D.5.1.20 Error 0050
      • D.5.1.21 Error 0051
      • D.5.1.22 Error 0061
      • D.5.1.23 Error 0062
      • D.5.1.24 Error 0063
      • D.5.1.25 Error 0067
      • D.5.1.26 Error 0068
      • D.5.1.27 Error 0074
      • D.5.1.28 Error 0075
      • D.5.1.29 Error 0076
      • D.5.1.30 Error 0077
      • D.5.1.31 Error 0079
      • D.5.1.32 Error 0080
      • D.5.1.33 Error 0081
      • D.5.1.34 Error 0082
      • D.5.1.35 Error 0084
      • D.5.1.36 Error 0085
      • D.5.1.37 Error 0089
      • D.5.1.38 Error 0096
      • D.5.1.39 Error 0098
      • D.5.1.40 Error 0100
      • D.5.1.41 Error 0101
      • D.5.1.42 Error 0102
      • D.5.1.43 Error 0103
      • D.5.1.44 Error 0104
      • D.5.1.45 Error 0105
    • D.5.2 Root-Level Warning Codes
      • D.5.2.1 Warning 0001
      • D.5.2.2 Warning 0002
      • D.5.2.3 Warning 0003
      • D.5.2.4 Warning 0004
      • D.5.2.5 Warning 0005
      • D.5.2.6 Warning 0006
      • D.5.2.7 Warning 0007
      • D.5.2.8 Warning 0008
      • D.5.2.9 Warning 0009
    • D.5.3 Additional Errors
      • D.5.3.1 Error 0202 0007
      • D.5.3.2 Error 0202 0018
      • D.5.3.3 Error 0202 0048
      • D.5.3.4 Error 0202 0049
      • D.5.3.5 Error 0202 0052
      • D.5.3.6 Error 0202 0069
      • D.5.3.7 Error 0202 0086
      • D.5.3.8 Error 0202 0092
      • D.5.3.9 Error 0202 0093
      • D.5.3.10 Error 0202 0095
      • D.5.3.11 Error 0202 0112
      • D.5.3.12 Error 0202 0113
      • D.5.3.13 Error 0016