ElmoMC Multi-Axis Motion Controller-Maestro User Manual

Maestro

Software Manual

September 2008 – Ver. Q

www.elmomc.com

Important Notice

This guide is delivered subject to the following conditions and restrictions:

This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of Maestro motion supervisor.

The text and graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice.

Information in this document is subject to change without notice.

Doc. No. MAN-MASSW

Copyright © 2008

Elmo Motion Control

All rights reserved

Revision History

Version	Release Date	Status		Changes/Remarks
Ver Q	September 2008			MTCR 00-100-28: Changed output_num range to
				0…7, ainput_num range to 0…3. (Applies to m_dout
				and m_ain functions in Ch 4, page 4-41.)
Ver. P	Early August 2008			Changes to chapters 4, 5, 9 and 13
				Added chapter 14

Elmo Motion Control Ltd.	Elmo Motion Control Inc.	Elmo Motion Control GmbH
64 Gissin St., P.O. Box 463	1 Park Drive, Suite 12	Steinkirchring 1
Petach Tikva 49103	Westford, MA 01886	D-78056, Villingen-Schwenningen
Israel	USA	Germany
Tel: [phone]	Tel: [phone]	Tel: [phone]
Fax: [phone]	Fax: [phone]	Fax: [phone]
[e-mail]	[e-mail]	[e-mail]	www.elmomc.com

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MAN-MAMSW (Ver. Q)

Contents

Chapter 1: Introduction			..................................................................................................................	1-1
1.1	Maestro Highlights ................................................................................................			1-1
1.2	Supplementary ................................................................................Documents			1-2
1.3	Command ......................................................................................Specification			1-3
1.4	Scope	.....................................................................................................................		1-3
Chapter 2: Functional Overview...................................................................................................				2-1
2.1	Functional ..................................................................................Block Diagram			2-1
2.2	Host Communications .........................................................................Services			2-2
2.3	Command .................................................................................Line Interpreter			2-2
2.4	The Kernel ............................................................................................................			2-2
2.5	Motion Manager ..................................................................................................			2-3
2.6	CANopen Network ................................................Communications Services			2-3
Chapter 3: Host Communications.................................................................................................				3-1
3.1	Setting Up ......................................................the Host through Elmo's Studio			3-1
3.2	Verifying or .........................................................................Changing the Host			3-1
3.3	Choosing the .......................................................Host through the Composer			3-2
Chapter 4: General and ........................................Motion Instructions; Configuration Tools				4-1
4.1	General Functions................................................................................................			4-4
4.2	Axis .....................................................................................................................			4-12
	4.2.1	Axis Motion ........................................................................Commands		4-12
	4.2.2	Axis .......................................................................................Properties		4-12
	4.2.3	Axis ........................................................................................Functions		4-16
4.3	Vector..................................................................................................................			4-18
	4.3.1	Vector ....................................................................Motion Commands		4-18
	4.3.2	Vector ....................................................................................Properties		4-18
	4.3.3	Vector ...............................................................................2D Functions		4-24
	4.3.4	Vector ...............................................................................3D Functions		4-29
4.4	Group..................................................................................................................			4-34
	4.4.1	Group ....................................................................Motion Commands		4-34
	4.4.2	Group ....................................................................................Properties		4-34
	4.4.3	Group .....................................................................................Functions		4-36
	4.4.4	Group ..........................................................................................Arrays		4-37
4.5	CAN Bus Configuration ............................................Tools (for DSP 305 support)			4-37
4.6	I/O Functions.....................................................................................................			4-40
	4.6.1	Maestro ..........................................................................I/O Functions		4-40
	4.6.2 CAN .................................I/O Functions (DS 401 Object Properties)			4-42
	4.6.2.1 ........................................................................................		Digital Input	4-42
	4.6.2.2 .....................................................................................		Digital Output	4-43
Chapter 5: MAXL Program ..........................................................................................Language				5-1
5.1	Lexical Conventions ............................................................................................			5-1
	5.1.1	Comments .................................................................................................		5-1
	5.1.2	Identifiers ..................................................................................................		5-2
	5.1.3	MAXL ......................................................................................Keywords		5-2

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	5.1.4	...............................................................................................Punctuators		5-3
	5.1.5	Operators...................................................................................................		5-3
	5.1.6	Literals.......................................................................................................		5-5
	5.1.6.1		Integer Constant...................................................................................	5-5
	5.1.6.2 Named Constant - #define and const. ...............................................			5-6
	5.1.6.3		Floating-Point Constant ......................................................................	5-7
	5.1.6.4		String Literals .......................................................................................	5-8
5.2	Basic Concepts .....................................................................................................			5-8
	5.2.1	Declarations and Definitions...................................................................		5-8
	5.2.1.1		Declarations..........................................................................................	5-8
	5.2.1.2		Array Declarations...............................................................................	5-9
	5.2.1.3		Definitions ...........................................................................................	5-10
	5.2.2	Program...................................................................................................		5-10
	5.2.3	Startup and Termination .......................................................................		5-10
	5.2.3.1 Program Startup – the run Function .................................................			5-10
	5.2.3.2		Program Termination .........................................................................	5-10
	5.2.4	Types........................................................................................................		5-11
	5.2.4.1		Fundamental Types ............................................................................	5-11
	5.2.4.2		Object Types ........................................................................................	5-11
	5.2.4.3		Debug string........................................................................................	5-12
5.3	Standard Conversions .......................................................................................			5-12
5.4	Expressions		.........................................................................................................	5-13
	5.4.1	Types of Expressions..............................................................................		5-13
	5.4.1.1		MAXL Primary Expressions ..............................................................	5-13
	5.4.1.2		Postfix Expressions .............................................................................	5-14
	5.4.1.3 Expressions with Unary Operators ...................................................			5-15
	5.4.1.4 Expressions with Binary Operators ..................................................			5-16
	5.4.1.5		MAXL Logical Operators ...................................................................	5-21
	5.4.1.6		Simple Assignment.............................................................................	5-22
	5.4.1.7		Size of Array........................................................................................	5-22
	5.4.2	Semantics of Expressions.......................................................................		5-23
	5.4.2.1		Order of Evaluation ............................................................................	5-23
5.5	Statements ..........................................................................................................			5-24
	5.5.1	Labeled Statements ................................................................................		5-24
	5.5.1.1 Using Labels with the goto Statement ..............................................			5-24
	5.5.1.2 Using Labels in the case Statement ...................................................			5-25
	5.5.2	Selection Statements...............................................................................		5-25
	5.5.2.1 The MAXL if Statement......................................................................			5-25
	5.5.2.2 The MAXL switch Statement .............................................................			5-26
	5.5.3	Iteration Statements ...............................................................................		5-27
	5.5.3.1 The MAXL while Statement...............................................................			5-27
	5.5.3.2 The MAXL for Statement ...................................................................			5-28
	5.5.4	Jump Statements.....................................................................................		5-28
	5.5.4.1 The MAXL break Statement...............................................................			5-29
	5.5.4.2 The MAXL continue Statement .........................................................			5-29
	5.5.4.3 The MAXL return Statement..............................................................			5-29
	5.5.4.4		The goto Statement .............................................................................	5-29
	5.5.4.5		Declaration Statements.......................................................................	5-30

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5.6	............................................................................................................Functions		5-30
	5.6.1	Function Definition ................................................................................	5-30
	5.6.2	Built-in Functions ...................................................................................	5-33
	5.6.3	Callback (interrupt) Functions..............................................................	5-34
5.7	Virtual Machine Control Statements ...............................................................		5-36
	5.7.1	wait control statement ............................................................................	5-36
	5.7.2	waitvar control statement .........................................................................	5-36
	5.7.3	until control statement..............................................................................	5-37
	5.7.4	TRACE control statement ......................................................................	5-37
	5.7.5	reset control statement............................................................................	5-37
5.8	Difference Between Static and Dynamic Group.............................................		5-37
	5.8.1 Recommendations on using dynamic groups .....................................		5-38
5.9	Static Variables...................................................................................................		5-40
	5.9.1	Static Variable Definition.......................................................................	5-40
	5.9.2 Elmo Studio User Interface for Static Variables ..................................		5-40

5.9.3Working with Static Variables in the Maestro Command Interpreter5-41

5.9.4Working with Static Variables in the Maestro Program Interpreter. 5-42

5.10	Maestro User Program Priority........................................................................	5-44
Chapter 6: The Maestro API ..........................................................................................................		6-1
6.1	MAC_Initialize.....................................................................................................	6-1
6.2	MAC_Uninitialize................................................................................................	6-2
6.3	MAC_CreateTCPConnection .............................................................................	6-3
6.4	MAC_CreateRS232Connection ..........................................................................	6-4
6.5	MAC_CloseConnection.......................................................................................	6-5
6.6	MAC_SendCommand .........................................................................................	6-5
6.7	MAC_LocateDevices ...........................................................................................	6-6
6.8	MAC_GetDevice ..................................................................................................	6-7
6.9	MAC_GetIpByName ...........................................................................................	6-7
6.10	MAC_IsDevicePresent ........................................................................................	6-8
6.11	MAC_LocateObjects............................................................................................	6-8
6.12	MAC_GetObject...................................................................................................	6-9
6.13	MAC_DownloadTrajectory ..............................................................................	6-11
6.14	MAC_RemoveTrajectory ..................................................................................	6-11
6.15	MAC_DownloadProgram.................................................................................	6-12
6.16	MAC_RemoveProgram.....................................................................................	6-12
6.17	MAC_DownloadResources ..............................................................................	6-13
6.18	MAC_DownloadResourcesEx ..........................................................................	6-14
6.19	MAC_UploadLog ..............................................................................................	6-14
6.20	MAC_DownloadSimpleIQFirmware...............................................................	6-15
6.21	MAC_GetLastError ...........................................................................................	6-16
6.22	MAC_InitEvents ................................................................................................	6-16
6.23	MAC_DeinitEvents............................................................................................	6-17
6.24	MAC_RegCloseCallback...................................................................................	6-17
6.25	MAC_RegInterruptCallback.............................................................................	6-17
6.26	MAC_DownloadSimpleIQProgram ................................................................	6-18
6.27	MAC_DownloadSimpleIQParams...................................................................	6-19
6.28	MAC_DownloadSimpleIQApp........................................................................	6-20
Chapter 7: RS-232 Protocol Specification......................................................................................		7-1
7.1	Send Command to Maestro ................................................................................	7-1

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...........................................................................7.2 Receive Answer from Maestro				7-1
Chapter 8: The Recorder			................................................................................................................	8-1
8.1	Accessing the Recorder .......................................................................................			8-1
Chapter 9: The CANopen Configurator.......................................................................................				9-1
9.1 Microsoft .Net Framework Installation Notes..................................................				9-1
9.2	CANopen Configurator GUI ..............................................................................			9-3
9.3 Connecting to a Maestro .....................................................................................				9-3
9.4 Create a Configuration Set..................................................................................				9-4
	9.4.1	Method 1: Online Configuration Set ......................................................		9-4
	Adding and Deleting Nodes ...............................................................................			9-5
	9.4.2	Method 2: Configuration Set from an Existing File ..............................		9-5
	9.4.3	Exporting a Node Set ...............................................................................		9-6
9.5 Identifying and Resolving Network Problems.................................................				9-6
9.6	Configuration Status Report...............................................................................			9-8
9.7	CANopen Configurator Options .......................................................................			9-9
	9.7.1	Changeable Properties .............................................................................		9-9
Chapter 10: Axis DS402 Command Reference ..........................................................................				10-1
10.1	Modes of Operation...........................................................................................			10-1
	10.1.1	Device State Machine Control...............................................................		10-3
	10.1.2	State Machine Operation Reactions......................................................		10-7
	10.1.3	Parameter limits .....................................................................................		10-9
	10.1.4	The Motor Manipulation Macro Command MO ..............................		10-11
10.2 Profile Position (PP) Mode .............................................................................				10-12
	10.2.1	Profile Position (PP) Commands ........................................................		10-12
	10.2.2	Profile Position Commands Usage .....................................................		10-14
	10.2.2.1 Profile Position Motion Implementation ........................................			10-14
	10.2.2.2 Profile position Mode Commands description ..............................			10-16
	10.2.2.3		Features of Profile Position Operating Mode Using for Group
	(Vector)		10-17
10.3 Profile Velocity (PV) Mode.............................................................................				10-20
	10.3.1	Profile Velocity (PV) COMMANDS ...................................................		10-20
	10.3.2	Profile Velocity Commands ................................................................		10-21
	10.3.3	Profile Velocity Mode Commands Description ................................		10-22
	10.3.4	Features of Profile Velocity operating Mode Using for Group (Vector)10-22
10.4 Interpolated Position (IP) Mode.....................................................................				10-24
	10.4.1	Interpolated Position (IP) Commands................................................		10-26
	10.4.2	Using Interpolated Position Commands............................................		10-28
	10.4.2.1 Implementing Interpolated Position Motion .................................			10-28
	10.4.2.2 Interpolated Position Mode Commands Description....................			10-30
	10.4.2.3		Features of Interpolated Position Operating Mode Using for Group
	(Vector)		10-35
10.5	Homing (HM) mode........................................................................................			10-36
	10.5.1	Homing (HM) Commands ..................................................................		10-36
	10.5.2	Using Homing Commands..................................................................		10-37
	10.5.2.1		Homing Implementation..................................................................	10-37
	10.5.2.2 Description of Homing Mode Commands .....................................			10-38
	10.5.2.3 Features of Homing Operating Mode Using for Group (Vector).10-38

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10.6	.............................................................................Profiled Torque (PT) Mode			10-39
	10.6.1 Profiled Torque (PT) Commands........................................................			10-39
	10.6.2 Using Profiled Torque Commands.....................................................			10-40
	10.6.2.1		Profiled Torque Implementation .....................................................	10-40
	10.6.2.2 Description of the Profiled Torque Mode Command....................			10-41
	10.6.2.3 Using the Profiled Torque Mode for a Group (Vector) .................			10-42
10.7	DS402 Command List......................................................................................			10-42
10.8	DS402 PDO Mapping table.............................................................................			10-57
Chapter 11: Ethernet IP Communication...................................................................................				11-1
11.1	Terms and Abbreviations .................................................................................			11-2
11.2	Types of Ethernet/IP Messages .......................................................................			11-2
11.3	Product Classes..................................................................................................			11-3
11.4	Ethernet/IP Module Activation .......................................................................			11-3
	11.4.1 Ethernet/IP Scanner (Rockwell) Activation ........................................			11-3
	11.4.2 Ethernet/IP Adapter (Maestro) Activation .........................................			11-6
11.5	UCMM (Unconnected) Messaging ..................................................................			11-7
	11.5.1 Server (Maestro) UCMM (Unconnected) Messaging..........................			11-7
	11.5.1.1 User interface to create communication objects...............................			11-7
	11.5.1.2		Using syntax ........................................................................................	11-8
	11.5.2 Client (Rockwell) Messaging Support................................................			11-10
	11.5.2.1 User interface to create communication objects.............................			11-11
	11.5.2.2		Using syntax ......................................................................................	11-12
11.6	Class 1 (I/O) connection server .....................................................................			11-14
	11.6.1 User interface to create communication objects................................			11-15
	11.6.2	Using syntax .........................................................................................		11-15
11.7	Class 3 (connected) messaging server ...........................................................			11-16
	11.7.1 User interface to create communication objects................................			11-16
	11.7.2	Using syntax .........................................................................................		11-17
	11.7.2.1		Command interpreter .......................................................................	11-17
	11.7.2.2		Maestro Program ..............................................................................	11-18
Chapter 12: MODBUS Implementation.....................................................................................				12-1
12.1	Master (Client) functionality implementation................................................			12-2
	12.1.1	Ethernet media........................................................................................		12-2
	12.1.1.1		TCP communication parameters .......................................................	12-2
12.2	Serial RS-232 media ...........................................................................................			12-3
	12.2.1 Communication parameters for ASCII or RTU...................................			12-3
12.3	MODBUS Master functionality ........................................................................			12-3
	12.3.1 MODBUS Master Object Communication Control Functions ...........			12-4
	12.3.2 MODBUS Master Object Bit Access Functions....................................			12-4
	12.3.3 MODBUS Master Object 16-bit Access Functions...............................			12-7
12.4	Slave (Server) functionality implementation ................................................			12-10
12.5	MODBUS objects configuration by Elmo Studio: User Interface
implementation			..........................................................................................................	12-13
	12.5.1 Elmo .........................................................Studio MODBUS window			12-13
	12.5.2	MODBUS ..........................................................................TCP master		12-14
	12.5.3	MODBUS .......................................................................Serial Master		12-15
	12.5.4	MODBUS ............................................................................TCP Slave		12-15

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12.5.5		..........................................................................MODBUS Serial Slave		12-16
12.6	MODBUS communication workflow.............................................................			12-17
12.7	MODBUS Protocol Errors ...............................................................................			12-18
Chapter 13. Node DS301 Command Reference ........................................................................				13-1
13.1	NMT Service.......................................................................................................			13-1
13.2	Sync and Timestamp ..........................................................................................			13-2
13.3	Emergency Handling ........................................................................................			13-2
13.4	Send PDO		............................................................................................................	13-2
13.5	Initialization of Callback Functions: Receive PDO ........................................			13-3
13.6	Callback Functions: ....................................................................Receive PDO			13-3
13.7	Download .......................................................................................SDO - 8 bit			13-4
13.8	Download .....................................................................................SDO - 16 bit			13-5
13.9	Download .....................................................................................SDO - 32 bit			13-5
13.10	Upload SDO ............................................................................................- 8 bit			13-6
13.11	Upload SDO ...........................................................................................- 16 bit			13-6
13.12	Upload SDO ...........................................................................................- 32 bit			13-7
13.13	Heartbeat ...........................................................................................Handling			13-7
Chapter 14: Maestro Message .........................................................................................Queue				14-1
14.1	User Message .....................................................................................Methods			14-1
14.2	Using the ...............................................Maestro Message Queue: Examples			14-2
Appendix A: Setting up .....................................................................................the Demo Case				A-1
A.1	Setting Up ................................................................................the CAN nodes			A-1
A.2	Checking ....................................................................the CANOpen Network			A-2
Appendix B: Sample Programs ....................................................................................................				B-1
B.1	Graphic Primitives...............................................................................................			B-3
B.1.1		Line ................................................................................................Sample		B-3
B.1.2		Circle ...........................................................................................Samples		B-3
	B.1.2.1 ........................................................................................		Circle Sample	B-3
	B.1.2.2 ................................................................................		Add Point Sample	B-4
B.1.3 Line .................................................................................to Line Samples				B-5
	B.1.3.1 ...........................................................................		Line _ to _ Line Sample	B-5
B.1.4 Line ..............................................................................to Circle Samples				B-5
	B.1.4.1 ........................................................................................		Line to Circle	B-5
	B.1.4.2 ................................................................Line to Circle with Homing			B-6
B.1.5 Circle ..............................................................................to Line Samples				B-7
	B.1.5.1 ........................................................................................		Circle to Line	B-7
	B.1.5.2 ..................................................Circle-to-Line with Homing Sample			B-8
B.1.6		Polygon .........................................................................................Sample		B-8
	B.1.6.1 .................................................................................................		Polygon	B-8
B.2	Motion Mathematics............................................................................................			B-9
B.3	Basic Programming .............................................................................................			B-9
B.3.1		Break ...............................................................-Continue-Return Sample		B-9
B.3.2		Function ................................................................................Call Sample		B-9
B.3.3		For Sample .................................................................................................		B-9
B.3.4		Global ..........................................................................Variable Sample		B-10
B.3.5		If Sample...................................................................................................		B-10
B.3.6		If-Else ..........................................................................................Sample		B-11
B.3.7		If-Else ......................................................................................-If Sample		B-11

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	B.3.8	Label and GoTo Sample..........................................................................		B-11
	B.3.9	Order of Processing Sample ...................................................................		B-11
	B.3.10	Program Call............................................................................................		B-12
	B.3.11	Switch Sample..........................................................................................		B-12
	B.3.12	While Sample...........................................................................................		B-12
	B.3.13	Array Samples .........................................................................................		B-13
	B.3.13.1		Array ...................................................................................................	B-13
	B.3.13.2		GroupAsArray ...................................................................................	B-13
	B.3.13.3		Int Array2D ........................................................................................	B-13
	B.3.13.4		VectorAsArray ...................................................................................	B-13
	B.3.13.5		Drill Machine......................................................................................	B-14
B.4	Callbacks Functions...........................................................................................			B-15
	B.4.1	PerrorCallBack.........................................................................................		B-15
	B.4.2	EmcyCallback ..........................................................................................		B-15
	B.4.3	HeartbeatCallBack...................................................................................		B-15
	B.4.4	EmitCallback Samples ............................................................................		B-16
	B.4.4.1		Emit .....................................................................................................	B-16
	B.4.4.2		EmitCallback ......................................................................................	B-17
	B.4.5	InputCallBack Samples...........................................................................		B-17
	B.4.5.1		InputCallBack.....................................................................................	B-17
	B.4.5.2		InputOutputTest1 ..............................................................................	B-19
	B.4.5.3		InputOutputTest2 ..............................................................................	B-20
	B.4.6	Motion Completed Callback Samples ...................................................		B-21
	B.4.6.1		MCompleteCallback ..........................................................................	B-21
	B.4.6.2		MotionCompleteTest .........................................................................	B-23
B.5	Homing...............................................................................................................			B-23
	B.5.1	Wall Homing............................................................................................		B-23
B.6	Inputs ..................................................................................................................			B-24
	B.6.1	MaestroAnalogInputs .............................................................................		B-24
	B.6.2	Input Callback .........................................................................................		B-26
	B.6.3	InputOutputTest1....................................................................................		B-26
	B.6.4	InputOutputTest2....................................................................................		B-26
B.7	Motion Objects ...................................................................................................			B-26
	B.7.1	Group Objects ..........................................................................................		B-26
	B.7.1.1		GroupCommonBg..............................................................................	B-26
	B.7.1.2		GroupCommonInit ............................................................................	B-27
	B.7.1.3		GroupTrj .............................................................................................	B-28
B.8	Etc........................................................................................................................			B-29
	B.8.1	Adddwell Sample....................................................................................		B-29
	B.8.2	Elmo Logo Outline Sample ....................................................................		B-30
	B.8.3	SendMessage............................................................................................		B-31
	B.8.4	Poin2Point ................................................................................................		B-32
	B.8.5	VectorAxisMove ......................................................................................		B-33
Appendix C: Performance Considerations.................................................................................				C-1
Appendix D: Maestro System Errors..........................................................................................				D-1
D.1	Error Structure: ...................................................................................................			D-1
D.2	Common Zone Errors.........................................................................................			D-2
	D.2.1	Root-level Error Codes:............................................................................		D-2
	D.2.2	Root-level Warning Codes: .....................................................................		D-2

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D.2.3	Top-level Error Codes:.............................................................................			D-2
D.3 CAN Communication Zone Errors...................................................................				D-4
D.3.1	Root-level Error Codes:............................................................................			D-4
D.3.2	Root-level Warning Codes: .....................................................................			D-5
D.3.3	Top-level Error Codes:.............................................................................			D-5
D.4 Virtual Machine Zone Errors.............................................................................				D-5
D.4.1	Root-level Error Codes:............................................................................			D-5
D.4.2	Fatal Errors		................................................................................................	D-8
D.4.3	Root-level Warnings ....................................................................Codes:			D-8
D.4.4	Top-level Error .............................................................................Codes:			D-9
D.5 Mathematical Library ...................................................................Zone Errors				D-9
D.5.1	Root-level Error ............................................................................Codes:			D-9
D.5.1.1		Error ...........................................................................................	0001	D-9
D.5.1.2		Error ...........................................................................................	0003	D-9
D.5.1.3		Error .........................................................................................	0005	D-10
D.5.1.4		Error .........................................................................................	0006	D-10
D.5.1.5		Error .........................................................................................	0010	D-10
D.5.1.6		Error .........................................................................................	0011	D-10
D.5.1.7		Error .........................................................................................	0012	D-11
D.5.1.8		Error .........................................................................................	0013	D-11
D.5.1.9		Error .........................................................................................	0014	D-11
D.5.1.10		Error 0015...........................................................................................		D-11
D.5.1.11		Error 0017...........................................................................................		D-12
D.5.1.12		Error ..........................................................................................0021		D-12
D.5.1.13		Error .........................................................................................	0022	D-12
D.5.1.14		Error .........................................................................................	0023	D-13
D.5.1.15		Error .........................................................................................	0028	D-13
D.5.1.16		Error .........................................................................................	0030	D-13
D.5.1.17		Error .........................................................................................	0040	D-13
D.5.1.18		Error .........................................................................................	0041	D-14
D.5.1.19		Error .........................................................................................	0047	D-14
D.5.1.20		Error .........................................................................................	0050	D-14
D.5.1.21		Error .........................................................................................	0051	D-14
D.5.1.22		Error .........................................................................................	0061	D-14
D.5.1.23		Error .........................................................................................	0062	D-15
D.5.1.24		Error .........................................................................................	0063	D-15
D.5.1.25		Error .........................................................................................	0067	D-15
D.5.1.26		Error .........................................................................................	0068	D-15
D.5.1.27		Error .........................................................................................	0074	D-16
D.5.1.28		Error .........................................................................................	0075	D-16
D.5.1.29		Error .........................................................................................	0076	D-16
D.5.1.30		Error .........................................................................................	0077	D-17
D.5.1.31		Error .........................................................................................	0079	D-17
D.5.1.32		Error .........................................................................................	0080	D-17
D.5.1.33		Error .........................................................................................	0081	D-17
D.5.1.34		Error .........................................................................................	0082	D-18
D.5.1.35		Error .........................................................................................	0084	D-18
D.5.1.36		Error .........................................................................................	0085	D-18
D.5.1.37		Error .........................................................................................	0089	D-18

Maestro Software Manual					Contents	ix
MAN-MAMSW (Ver. Q)
D.5.1.38		Error	0096.........................................................................................		D-19
D.5.1.39		Error	0098.........................................................................................		D-19
D.5.1.40		Error	0100.........................................................................................		D-19
D.5.1.41		Error	0101.........................................................................................		D-20
D.5.1.42		Error	0102.........................................................................................		D-20
D.5.1.43		Error	0103.........................................................................................		D-20
D.5.1.44		Error	0104.........................................................................................		D-20
D.5.1.45		Error	0105.........................................................................................		D-21
D.5.2	Root-Level Warning Codes ...................................................................				D-21
D.5.2.1		Warning		0001...................................................................................	D-21
D.5.2.2		Warning		0002...................................................................................	D-21
D.5.2.3		Warning		0003...................................................................................	D-21
D.5.2.4		Warning		0004...................................................................................	D-22
D.5.2.5		Warning		0005...................................................................................	D-22
D.5.2.6		Warning		0006...................................................................................	D-22
D.5.2.7		Warning		0007...................................................................................	D-22
D.5.2.8		Warning 0008....................................................................................			D-22
D.5.2.9		Warning		0009...................................................................................	D-23
D.5.3	Additional Errors ...................................................................................				D-23
D.5.3.1		Error 0202 0007.................................................................................			D-23
D.5.3.2		Error 0202 0018.................................................................................			D-23
D.5.3.3		Error 0202 0048.................................................................................			D-23
D.5.3.4		Error 0202 0049.................................................................................			D-24
D.5.3.5		Error 0202 0052.................................................................................			D-24
D.5.3.6		Error 0202 0069.................................................................................			D-24
D.5.3.7		Error 0202 0086.................................................................................			D-24
D.5.3.8		Error 0202 0092.................................................................................			D-25
D.5.3.9		Error 0202 0093.................................................................................			D-25
D.5.3.10		Error 0202 0095.................................................................................			D-25
D.5.3.11		Error 0202 0112.................................................................................			D-25
D.5.3.12		Error 0202 0113.................................................................................			D-26
D.5.3.13		Error 0016		...........................................................................................	D-26

	Maestro Software Manual	1-1
	MAN-MASSW (Ver. Q)

Chapter 1: Introduction

Elmo’s Maestro is a network-based multi-axis motion supervisor that operates in conjunction with Elmo intelligent servo drives to provide a full multi-axis motion control solution. The Maestro and the SimplIQ servo drives share the motion processing workload in a distributed motion control architecture.

1.1Maestro Highlights

The Maestro operates as a Multi-Axis Motion Supervisor to:

coordinate motion between various axes in synchronized interpolated mode

integrate event handling into motion control procedures

The Maestro operates as a CANopen Network Node Master for:

Network management (NMT)

Clock synchronization

Network Configuration

The Maestro operates as an Ethernet - CAN gateway

The Maestro acts as a file archiver and distributor of:

Firmware – Maestro and intelligent drives

Multi-Axis User Applications – Maestro and intelligent drives

System Resources

The Maestro operates as a Multi-Axis Motion Analysis & Development tool:

Multi-Axis recording and analysis tools

Multi-Axis application development environment

The Maestro can be monitored through a web browser.

Machine

Programming

And Control

Multi-Axis

Motion Control

Single-Axis

Motion Control

Figure 1-1 Maestro Multi-Axis Supervisor Architecture

Maestro Software Manual	Introduction	1-2
MAN-MASSW (Ver. Q)

1.2Supplementary Documents

This manual is part of a documentation set that, together, can be used to set up and program the motion of any machine whose motors are controlled by Elmo SimplIQ servo drives. Before you can use this manual you will need to carefully follow the instructions in the Maestro Installation Guide to set up your Maestro.

The software described in this manual is provided on the CD that accompanies the Maestro or as a download from Elmo's web site. In this manual it is assumed that you have followed the software setup instructions in the Maestro Installation Guide and have successfully installed the software.

At least one drive needs to be connected to the Maestro in order for it to function as a motion controller. The SimplIQ manuals shown below explain how to set up and program servo drives. Please read the Installation Guide that arrived with your servo drive before setting it up. Servo drives are power devices so be careful.

Maestro

Setup

Maestro

Programming

Drive

Installation

Drive

Setup

Drive/Axis

Programming

Tuba

Cornet

Maestro

Installation Guide

Maestro

Software Manual

SimplIQ

Digital Servo Drive

Installation Guide(s)

Composer User Manual

CANopen Implementation Guide

SimplIQ Software Manual

SimplIQ Command Reference Manual

Figure 1-2: Elmo Documentation Hierarchy

Maestro Software Manual	Introduction	1-3
MAN-MASSW (Ver. Q)

1.3Command Specification

Commands for SimplIQ drives may be specified from the following sources:

	User program	A program loaded to the servo drive via one of the
		communication options. After program execution begins, the
		program is managed by the drive.
	RS-232	Serial, point-to-point, short-range communication. Although this
		method is rather slow, RS-232 is very easy to use and
		requirements are minimal: a standard PC with serial port and
		ASCII terminal software.
	CANopen	Serial, multi-drop, medium speed and medium-range
		communication. This type of communication requires special-
		purpose host hardware and software.

This manual describes the Maestro commands that can be specified from each of these sources. Most of the commands are equally available for all three sources. Certain commands, however, are limited in scope according to type of program or communication.

All the commands are available to CAN communication in text form through the OS service, objects 0x1023 and 0x1024. In addition, the numerical set/get commands are available to CAN users in short PDO form, called the “binary interpreter.” The binary and the OS SCAN interpreters are described fully in the CAN manual.

CANopen may also be used to manipulate the drive using the object dictionary (OD) method, which is the native CAN method. This manual does not cover OD manipulations with CANopen; refer to the “Object Dictionary” section of the CANopen manual for full explanations.

The Maestro drive responds to many privileged commands — such as those used by the Composer setup wizard — that are not documented in this manual.

1.4Scope

This manual includes the complete list of commands used by the Maestro servo drives.

The commands are presented in two ways:

A task-related listing

Alphabetically

In the task-related reference, the commands are sorted into groups of related commands. Each group is presented in a table listing the commands with basic descriptions. The alphabetical command listing provides a detailed explanation of each command, with examples and references to the SimplIQ Software Manual when necessary.

	Maestro Software Manual	2-1
	MAN-MASSW (Ver. Q)

Chapter 2: Functional Overview

This chapter takes a look at the organization of Maestro software.

2.1Functional Block Diagram

The Maestro’s functionality can be organized into the 5 groups shown below.

The first group (Host Communications Services) contains the standard interfaces and protocols that enable the Maestro to communicates with the “outside world”.

The Command Line Interpreter is a utility that enables individual commands to be executed immediately by either the Maestro or by a SimplIQ drive on a specified axis.

The Kernel is the part of the Maestro that executes user programs.

The Motion Manager sends commands and information to all axes and receives information so that it can coordinate motion between all the axes.

The Maestro is designed to manage multiple axes on a CAN Open network. The CAN Network Communication Server contains the CAN Open interfaces and protocols that enable the Maestro to do so.

RS - 232

Ethernet

Host

TelNet

WEB

API

Command Line Interpeter

Virtual

Virtual

Machine

Machine

Kernel

Virtual

Machine

I/O

Group

Vector

CAN

Bus

Axis Manager

Services

CANopen (DS-301)

CANopen Master

CANopen API

Gateway

Key:

Host Communication Services

Command Line Interpeter

Virtual Machines

(for executing User Programs)

Motion Manager

CAN Network

Communications Server

Figure 2-1 The Maestro's Building Block

Maestro Software Manual	Functional Overview	2-2
MAN-MASSW (Ver. Q)

2.2Host Communications Services

A host application can access the Maestro using either a TCP/IP or RS-232 services. Processes carried out through host communication include:

Transfer of operating instructions (e.g. for running a program or killing it) to the Maestro

Transfer operational data (such as the trajectory of the next motion)

Status requests

Debugging

Generation of a “transparent path” from a Composer program to any single end-unit

Host communication is used to execute different tasks, including:

Processing of interpreter commands

Maintenance and file download/upload

Processing of direct-axis interpreter commands

CANopen gateway

2.3Command Line Interpreter

CLI commands that are sent to the Maestro are either executed by the Maestro itself or are forwarded directly to the specified axis for immediate execution.

The CLI currently supports the following commands:

Initialization commands

Commands for collect information

Axis commands

Vector commands

Group command

2.4The Kernel

One of the main Kernel functions is running Maestro User Programs. The part of the Kernel which executes the User Programs is the Virtual Machine which enables multiaxis programming. Each task (program) can work independently of the other tasks by running a separate virtual machine. Communication and synchronization between tasks can be performed by using global variables. Multiple tasks can be used to run different machine functions in parallel.

Maestro Software Manual	Functional Overview	2-3
MAN-MASSW (Ver. Q)

2.5Motion Manager

The Motion Manager is the portion of the Kernel which provides services for the I/O and the following motion objects:

Axis

Group

Vector

2.6CANopen Network Communications Services

The CANopen Network Communication is the portion of the Kernel which provides the following functionality:

CANopen Bus services

CANopen DS 301 Protocol

CANopen Master

CANopen API

	Maestro Software Manual	3-1
	MAN-MASSW (Ver. Q)

Chapter 3: Host Communications

This chapter explains how to set up the Workspace to work with a specific Maestro as a host.

3.1Setting Up the Host through Elmo's Studio

A Select Maestro pick list pops up when starting a new worksheet for the first time. The window contains a list of Maestros currently attached to the network. The IP Address of the Maestro and its name are listed. Select the Maestro you plan to work with and click OK.

Figure 3-1 The Maestro Selection Window

3.2Verifying or Changing the Host

To verify that you have set up the correct Maestro as the host, or to change to another Maestro, move the cursor into the File Viewer and click on the right mouse button. When the menu pops up select Workspace Settings. This will cause the Workspace Settings window to open. If the IP Address is wrong, click the Find button to open the Select Maestro window.

Figure 3-2 Right Mouse Button	Figure 3-3 The Workspace Settings Window
Selection Options

Maestro Software Manual	Host Communications	3-2
MAN-MASSW (Ver. Q)

3.3Choosing the Host through the Composer

Select Start/Programs/Elmo/Composer to start Elmo's Composer and check the setup.

1.In the Welcome menu select the Open Communication Directly option.

2.In the Application Name and Communication Type dialog box check the TCP/IP Gateway option and click the Properties button.

3.In the Select Drive dialog you should see at least one Maestro in the Gateway list. Select it.

4.Go to the drive window, select one of the drives and click OK to open communications with the selected drive.

5.If the Composer has no information about the device that was selected, it will upload the device info. That could take a minute or two.

6.If all is connected properly, the Smart Terminal window in the Composer will open.

	Maestro Software Manual	4-1
	MAN-MASSW (Ver. Q)

Chapter 4: General and Motion

Instructions; Configuration Tools

This chapter describes the Maestro input/output and motion objects, instructions and CAN configuration tools.

The Maestro Multi-Axis Controller supports the following set of Input/Output Objects:

•Internal Maestro I/O Objects: the Maestro has eight Digital Inputs, eight Digital Outputs and four Analog Inputs.

•External CAN I/O: the Maestro can control external I/Os that conform to the CANopen DS 401 protocol and use the I/Os on Elmo SimplIQ devices.

The Maestro Multi-Axis Controller supports the following set of Motion Objects:

•Axis is the most basic Maestro motion object and it is used to control the motion of a single motor/axis.

•Vector2D: This object is comprised of two axes of the same type and it is used to define two dimensional trajectories.

•Vector3D: This object is comprised of three axes of the same type and it is used to define two dimensional trajectories.

•Group is a composite Maestro motion object that is comprised of two or more Maestro axes of the same type. This object can be used to synchronize the operation of all the axes in the group.

All motion objects use the same set of Motion Instructions, which include:

•Commands – instructions sent to an axis (these are similar to the commands used by SimplIQ drives and are described in the SimplIQ Command Reference).

•Properties – system parameters used to set the behavior of the Maestro.

•Functions – a pre-defined set of motion functions.

There is also a unique set of functions called CAN Bus Configuration Tools that are used to set up an LSS slave.

Motion instructions can be sent from a terminal or from a Maestro user program.

Maestro Software Manual						General and Motion Instructions			4-2
MAN-MASSW (Ver. Q)
			Table 4-1 Motion Properties and Functions
	Axis	Vector	Group		CAN Input		General
	Properties	Properties	Properties		Properties		Functions
		VAC			flr		backup
		VAE			irq		businfo
		VBT	GBT		mhl		bye, quit, or exit
		VCR			mlh		command
		VDC			msk		date
	ADI				plr		dynamicip
	ADT	VDT					errlevel
	AEL		GEL				error
	AEH		GEH				find
	AEM		GEM				format
	AFP	VFP					halt
	AID	VID	GID		CAN Output		hbperiod
	ALN	VLN			Properties		hbrem
	AMC	VMC	GMC		erm		ipconfig
		VNT			erv		isok
	APE				flr		kill
		VPE			plr		list
	APP	VPP					load
		VSC					message
		VSD					messageex
		VSE					name
		VSM	GSM				nodeguard
		VSP					nodeinfo
		VSR					property
	ATM	VTM	GTM				restart
	ATP						restarta
		VTT					restartd
		VUM					restarte
		VVE					resauto
		VXT					save
							staticip
							sync
							systime
							systimex
							time
							tstamp
							tstampver
							umauto
							umstart
							umstatus
							umstop
							ver

Maestro Software Manual	General and Motion Instructions	4-3
MAN-MASSW (Ver. Q)

	2D, 3D &	Group
Axis	Group
Functions	Vector	Functions
	Functions
	addcircle
	adddwell
	addline
addpoint	addpoint
	addsplinep
	attach	attach
	circle
	clears
	detach	detach
dotrj	dotrj
ends	ends
error	error	error
isok	isok	isok
	line
startstp	splinee
	splinep
trj	splines
	startp
	starts
	trj

CAN Configuration

Tools (Functions)

plss_activate_bt

plss_config_bt

plss_config_nid

plss_inq_addr

plss_inq_nid

plss_inq_product

plss_inq_rev_num

plss_inq_ser_num

plss_inq_vendor

plss_master_bt

plss_start

plss_store_config

plss_stop

plss_sw_glb

plss_sw_sel

Maestro I/O

Functions

m_din

m_din[]

m_dout

m_dout[]

m_ain[]

m_ain[].offset

m_din.polarity,

m_din.plr

m_dout.polarity,

m_dout.plr

	Maestro Software Manual	4-4
	MAN-MASSW (Ver. Q)

4.1General Functions

Note: Entering a question mark from the terminal before any function name opens the help text for the function. (Terminal only)

Function	backup - restart the Maestro with the previous configuration
Call Format	backup
Limitations	Terminal only
Function	baudrate - get the CAN bus baud rate
Call Format	baudrate(BusID)
Parameters	BusId - CAN bus ID number
Limitations	Terminal only
Example	baudrate(0)
Function	businfo - get CAN Bus information
Call Format	businfo <bus_number> - CAN bus number (default value = 0)
Limitations	Terminal only
Example	businfo 1
Function	bye, quit or exit - close the current session
Call Format	bye
Limitations	Terminal only
Function	command - gets help text with the general structure for the motion
	object commands.
Call Format	?command
Limitations	Terminal only
Function	date - get (or set) the current date
Call Format	date - To change the date, enter a date according to the format
	DD.MM.YYYY.
Limitations	Terminal only
Example	date 16.11.2005.

	Maestro Software Manual		General and Motion Instructions	4-5
	MAN-MASSW (Ver. Q)
	Function	dynamicip – configures the Maestro Network Parameters to work with
		a DHCP Server (dynamic IP addressing)
	Call Format	dynamicip
	Return Value	EnableDHCP: 1
	Limitations	Terminal only. Restart (power off/on) the Maestro controller to apply a
		new dynamic IP address
	Example	dynamicip
		EnableDHCP: 1
	Function	errlevel -	set the error stack level
	Call Format	errlevel( <level> )
		<level> - preferred error level
	Example	errlevel(3) – set error level 3
	Function	error - get the error stack from the Maestro Multi-Axis Controller
	Call Format	error	- get all errors with the current error level
		error <level> - get all errors with the specified error level
	Limitations	Terminal only
	Example	error 3 – get all errors with error level 3 only
	Function	find - Search for an object according to the object’s logical name. If the
		object exists, the information is displayed as a “list”. If the object does
		not exist, the Maestro returns “Object not found”.
	Call Format	find <object_name>
	Limitations	Terminal only
	Example	find axis_1
	Function	format – displays the help text that defines how to format a binary,
		hexadecimal or floating-point number.
	Call Format	?format.
	Limitations	Terminal only
	Function	halt - halt the virtual machine
	Call Format	<name of virtual machine>.halt
	Limitations	Terminal only
	Example	vm.halt

	Maestro Software Manual		General and Motion Instructions	4-6
	MAN-MASSW (Ver. Q)
	Function	hbperiod -	set heartbeat control period
	Call Format	hbperiod(int <bus_number>,int<period>)
	Parameters	<bus_number> - the CAN bus number to use to send heartbeat
		messages
		<period> - the interval between heartbeat messages in milliseconds (0–
		for cancel).
	Return Value	OK or FAILED: Error message
	Example	hbperiod(0,1000) – the system uses bus number 0 to send a heartbeat
		message every 1000 ms.
	Function	hbrem - remove the node from heartbeat control
	Call Format	hbrem(int <bus_number>,int<node number>)
	Parameters	<bus_number> - CAN bus number
		<node number> - the CAN node number of the node to remove from
		heartbeat control
	Return Value	OK or FAILED: Error message
	Example	hbrem(0,1) – on CAN bus 0, remove node 1 from heartbeat control
	Function	ipconfig – display the current network configuration type, IP address
		and subnet mask
	Call Format	ipconfig
	Return Value	Displays the network configuration type, IP address and subnet mask
	Limitations	Terminal only
	Example	ipconfig
		EnableDHCP: 1
		DhcpIPAddress: 10.10.20.57
		DhcpSubnetMask: 255.255.255.0
	Function	isok - verify the Maestro Multi-Axis Controller status
	Call Format	Isok
	Return Value	OK: Ok	FAILED: Error message
	Limitations	Terminal only
	Function	kill - kill all programs
	Call Format	Kill
	Return Value	OK: the number of killed programs, or FAILED: Error message
	Limitations	Terminal only

Maestro Software Manual	General and Motion Instructions	4-7
MAN-MASSW (Ver. Q)

Function	list - gets a list of all the Maestro objects. An object can be a motion
	object (axis, vector, etc.) or a virtual machine.
Call Format	list [-key:attribute] … [-key:attribute]
	Parameters:
	[-b:id]	- get information for the specified CAN Bus
	[-n]	- get information about nodes DS301
	[-i]	- get information about IO DS401
	[-a[:attribute]] - get information about axes. Attributes: target object type. Can be:
	e[lmo]	- Elmo motion drivers only
	402	- DS402 profile motion drivers only
	[-v[:attribute]] - get information about vectors. Attributes: target object type. Can be:
	e[lmo]	- vectors of Elmo motion drivers only
	402	- vectors of DS402 profile motion drivers only
	[-g[:attribute]] - get information about groups. Attributes: target object type. Can be:
	e[lmo]	- groups of Elmo motion drivers only
	402	- groups of DS402 profile motion drivers only
	[-t]	- get information about trajectories
	[-p[:attribute]] - get information about programs. Attributes: target object type. Can
	be:
	r[un]	- running programs only
	p[ause]	- paused programs only
	h[alt]	- halted programs only
	a[bort]	- aborted programs only
	f[ile]	- all programs in the device file
	[-u]	- get information about unrecognized objects
	[-f]	- get full information about current query
	[-s]	- get status of current motion object
Limitations	Terminal only
Example	list
	list –b:0 -a
	list -p:r
Function	load - loads the values of all global variables and arrays saved during
	the previous save() function
Call Format	load()
Limitations	Program only

	Maestro Software Manual		General and Motion Instructions	4-8
	MAN-MASSW (Ver. Q)
	Function	message - post a message to the host computer (no timestamp)
	Call Format	message(msgID, wParam, lParam) – posts a message without a
		timestamp
	Parameters	msgID – user-defined message ID
		wParam, lParam – user’s message data (Unsigned integer type)
	Example	message ( 0, a1.px, a2.px )
	Function	messageex - post a message to the host computer (with time stamp)
	Call Format	messageex(msgID, wParam, lParam) – posts a time-stamped message
	Parameters	msgID – user-defined message ID
		wParam, lParam – user’s message data (Unsigned integer type)
	Example	messageex( 0, a1.px, a2.px )
	Function	name - get (or set) the logical device name
	Call Format	name – gets the device name
		name <device_name> - sets the device name
	Return Value	Device name
	Limitations	Terminal only
	Function	nodeguard – set the nodeguard control period
	Call Format	nodeguard(int <bus_number>,int <node number>,int<period>)
		bus_number - CAN bus ID
		node number – CAN node ID
		period - the interval between nodeguard messages in milliseconds (0–to
		cancel).
	Example	nodeguard (0,1,500) – On CAN bus 0, sets the interval between
		nodeguard messages arriving at CAN node 1 to 500 milliseconds.
	Function	nodeinfo – gets the CAN node information
	Call Format	nodeinfo(int <bus_number>,int < node number >)
		bus_number - CAN bus ID
		node number – CAN node ID
	Limitations	Terminal only.
	Example	nodeinfo(0,1)
	Function	property -	gets the help text for the motion object property
	Call Format	? property
	Limitations	Terminal only

	Maestro Software Manual		General and Motion Instructions	4-9
	MAN-MASSW (Ver. Q)
	Function	restart - Restarts the Maestro and:
		• Closes all existing objects
		• Kills all virtual machines
		• Restarts the Maestro kernel
		• Applies the sessions and objects according to the existing
		configuration file.
	Call Format	restart
	Limitations	Terminal only
	Function	restarta - Restarts the Maestro and:
		• Closes all existing objects
		• Kills all virtual machines
		• Restarts the Maestro kernel
		• Applies the sessions and objects according to the existing
		configuration file.
		• Starts the AUTOEXEC program (if it exists).
	Call Format	restarta
	Limitations	Terminal only
	Function	restartd - restarts the	Maestro kernel with the default
		configuration and sets the baud rate for each CAN bus.
	Call Format	restartd() – for baud rate 500 (default setting)
		restartd(baudrate1, baudrate2) –baud rate 0 is not used. If the default
		baud rate is not selected, a separate baud rate for each CAN bus must
		be specified. If a baud rate for one bus is omitted, an error message is
		displayed.
	Limitations	Terminal only
	Example	restartd(1000, 1000)
	Function	restarte - restarts the Maestro kernel without running the CAN
		bus.
	Call Format	restarte()
	Limitations	Terminal only

	Maestro Software Manual		General and Motion Instructions	4-10
	MAN-MASSW (Ver. Q)
	Function	rsauto - get (or set) the RS-232 autorun parameter
	Call Format	rsauto() – to get the current autorun parameter
		rsauto(val) – to set the current autorun parameter
		val can be 0 or1
	Limitations	Terminal only
	Example	rsauto(1) – allows the RS-232 bus to access the Command Interpreter
		rsauto(0) – does not allow the RS-232 bus to access the Command
		Interpreter
	Function	save - to save the values of all the global variables and arrays
	Call Format	save()
	Limitations	Program only
	Function	staticip – configures the Maestro Network parameters to work with
		a static IP address
	Call Format	staticip(ip_address, subnet_mask)
		ip_address - new IP Address of Maestro device
		subnet_mask	- new Subnet Mask of Maestro device
	Return Value	IP Address and Subnet Mask, Network configuration type,
	Limitations	Terminal only. Restart (power off/on ) Maestro to apply Static IP
		address.
	Example	staticip (10.10.20.57, 255.255.255.0)
		IPAddress: 10.10.20.57
		SubnetMask: 255.255.255.0
		EnableDHCP: 0
	Function	sync - begin sending SYNC messages to a CAN bus
	Call Format	sync (int <bus_number>,float<sync_period>)
	Parameters	<bus_number> - which CAN bus to send the SYNC messages to
		<sync_period> - the value of the SYNC period, in milliseconds
	Return Value	OK or FAILED: Error message
	Example	sync(0,20) – for bus number 0 activate the send sync every 20
		milliseconds.
	Function	systime - returns the system-defined time in milliseconds
	Call Format	systime()
	Function	systimex -	returns the CAN bus time in microseconds
	Call Format	systimex()

	Maestro Software Manual		General and Motion Instructions	4-11
	MAN-MASSW (Ver. Q)
	Function	time - get (or set) the current time
	Call Format	Time
	Limitations	Terminal only
	Function	tstamp - set the timestamp period
	Call Format	tstamp(int <bus_number>,int<period>)
	Parameters	<bus_number> which CAN bus sends the timestamp
		<period> - specifies how many sync periods must pass before the new
		timestamp is set.
	Return Value	OK or FAILED: Error message
	Example	tstamp(0,5)	– for bus number 0, send a timestamp message after each
		5 sync periods.
	Function	umauto - get (or set) the user module autorun parameter
	Call Format	umauto() – to get the current autorun parameter
		umauto(val) – to set the current autorun parameter
		val can be 0 or 1
	Limitations	Terminal only
	Function	umstart -	run the user module
	Call Format	umstart()
	Limitations	Terminal only
	Function	umstatus - get the user module status
	Call Format	umstatus()
	Limitations	Terminal only
	Function	umstop - terminate the user module
	Call Format	umstop()
	Limitations	Terminal only
	Function	ver - get current Maestro version
	Call Format	Ver
	Limitations	Terminal only