Elmo Gold Maestro G-MAS, Руководство пользователя программного обеспечения

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G ‐ MAS – Gold Maestro Software User’s Manual Software User Manual
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Understanding the structure of the Multi ‐ Axis Motion Control core is critical for optimal operation of
the G ‐ MAS. Please refer to the dedicated section below to learn details of the Multi ‐ Axis Motion
Control core.
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Management of the device network (CAN or EtherCAT) and communication with the end ‐ units.
4.2.1. Function Blocks Interfaces
Function Blocks refer to the library of interface functions that are available for the users through the
library supplied by Elmo: Elmo’s G ‐ MAS Function Block Library. The same set of functions are
available for the Host programmer (who is developing the Host Application, see above) and for the
G ‐ MAS programmer (who is developing the User Application for the G ‐ MAS, see below). The
Function Blocks’ library includes functions to create motions, manage the device network, create and
manager events, etc.
Please refer to the G ‐ MAS Administrative and Motion API User’s Manual for a detailed description of
each of the available Function Blocks.
Here is some brief information about the Function Block interfaces:
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The API consists of a list of functions with input and output values.
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For instance ‐ the MC_MoveAbsolute is as follows:
int MMC_MoveAbsoluteCmd(Connection handle, Axis Reference, MMC_MOVEABSOLUTE_IN
structure, MMC_MOVEABSOLUTE_OUT* structure);
Where:
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All functions include a connection handle.
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Motion Functions include a reference to an axis (Group or single axis). Obtained by GetAxisRef().
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All functions include an ‘In’ structure and an ‘Out’ structure.
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The ‘In’ structure will include information regarding the motion.
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The ‘Out’ structure will include information regarding whether the function call succeeded or
not.
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If the API function is to return data (such as ReadActualPosition() ) – then the ‘Out’ structure will
of course include the designated information.
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All function calls return immediately. This does not mean that the functionality is complete.
Function calls sometimes initiate a background sequence (MoveAbsolute() for instance …).
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All motion function blocks return a status register, which reflects the function CALL only. If an
error occurs by sending incorrect parameters(range) / state machine – the function block call
returns an error.