G
‐
MAS
–
Gold
Maestro
Software
User’s
Manual
Software
User
Manual
XXXXXXXXXXXX(0.01)
3
‐
15
Elmo
supplies
a
set
of
Wrapper
Functions
files
as
part
of
its
set
of
examples.
You
can
define
and
create
your
own
set
of
Wrapper
Functions
files
(starting
from
scratch
or
based
on
one
of
Elmo’s
examples),
as
suitable
for
your
projects
and
style
of
writing.
Wrapper
Functions
files
should
follow
the
following
guidelines:
•
Elmo’s
supplied
Wrapper
Functions
files
should
not
be
modified.
Instead,
if
modifications
are
necessary,
copy
the
file
to
a
new
file
and
modify
it.
•
Each
Wrapper
Functions
file
should
include
a
set
of
functions
that
are
logically
related.
Each
function
should
have
a
simple
user
interface.
•
Each
Wrapper
Functions
file
should
be
named
to
reflect
its
contents.
For
example:
SimplifiedSynchronizedMotions.c.
•
Each
Wrapper
Functions
C
file
should
have
a
header
file
(*.h),
with
the
same
name.
The
header
file
will
include
definitions
relevant
to
the
Wrapper
Functions
file,
as
well
as
prototypes
for
the
wrapper
functions
included
within
it.
•
The
general
(not
example
specific)
Wrapper
Functions
files
that
are
supplied
by
Elmo,
are
located
under
the
G:\GMAS\GMASCWrapperFunctionsFiles.
•
Additional
Wrapper
Functions
files
that
are
more
specific
to
a
given
project/application
should
be
located
within
the
project
directory.
•
If
a
Wrapper
Function
acquires
a
number
of
assumptions
(default
values,
keeping
previous
values,
etc.),
these
assumptions
must
be
clearly
documented
for
the
user.
•
It
is
strongly
recommended
that
a
Wrapper
Function
(unless
it
was
written
to
a
very
specific
and
fixed
project)
will
not
include
default
values
for
parameters.
An
easy
mistake
can
be,
for
example,
to
assume
a
value
of
100000
(for
example)
for
a
simplified
motion
function.
This
may
work
perfectly
for
a
given
example,
but
will
not
be
suitable
for
a
future
example,
when
no
one
will
remember
this
default
decision.
Other
solutions
are
recommended
(for
example,
to
include
a
Wrapper
Function
within
the
file
that
will
be
used
to
initialize
all
this
default
values
from
the
main
code).
Something
like:
InitMotionsWrapper(iSpeed,
iAcceleration,
iDecelaration,
iMode,
iSmoothing,
…)
Then
the
programmer
can
freely
use
MoveAbs(iPosition)
etc.
3.5.
Implementing machine sequences
A
program
that
handles
machine
sequences
should
answer
the
following
requirements:
•
Capable
to
handle
a
number
of
sequences
in
parallel.
For
example,
assuming
that
the
G
‐
MAS
should
handle
a
machine
with
three
axes
(e.g.
X,
Y
and
Z)
together
with
an
Automatic
Loader
that
should
load
and
unload
the
object
to/from
the
machine,
itself
consisting
of
4
axes.
Each
of
these
sub
‐
assemblies
should
be
controlled
in
parallel,
having
sequences
that
are
independent
while
necessarily
synchronized.
A
User
Application
at
the
G
‐
MAS
should
be
able
to
execute
both
sequences
(the
machine
and
the
Loader)
in
parallel,
and
to
synchronize
them,
when
synchronization
is
required.
Содержание Gold Maestro G-MAS
Страница 1: ...G MAS Gold Maestro Software User s Manual March 2011 Ver 1 0 www elmomc com...
Страница 40: ...G MAS Gold Maestro Software User s Manual Software User Manual XXXXXXXXXXXX 0 01 3 38 Then the next stage is...
Страница 43: ...G MAS Gold Maestro Software User s Manual Software User Manual XXXXXXXXXXXX 0 01 3 41 Then the next stage is...
