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Trio Motion Coordinator Euro 205, Technical Reference Manual

The Trio Motion Coordinator Euro 205 is a versatile motion controller designed for precision control in industrial automation applications. Access the technical capabilities and programming options of this advanced controller by downloading the free Technical Reference Manual from our website. Master the intricacies of the Trio Motion Coordinator Euro 205 today.

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8-6

Trio BASIC Commands

Trio Motion Technology   

PEEK   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-107
POKE  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-107
POWER_UP   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-107
PROCESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-108
PROFIBUS  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-108
REMOTE  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-109
RENAME   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-109
RUN  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-110
RUNTYPE   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-110
SCOPE   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-111
SCOPE_POS  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-112
SELECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-112
SLOT   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-113
SERCOS   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-113
SERVO_PERIOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-114
STEPLINE   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-115
STICK_READ   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-115
STICK_WRITE  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-116
STORE   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-116
TABLE   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-117
TABLEVALUES   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-118
TIME   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-119
TIME$ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-119
TRIGGER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-119
TROFF   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-119
TRON  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-120
TSIZE  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-120
UNLOCK  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-120
USB  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-121
USB_STALL   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-122
VERSION  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-122
VIEW   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-122
VR  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-123
WDOG   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-124
:  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-124
’  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-125
#  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-125
$  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-126

Process Parameters and Commands  ............................. 8-127

ERROR_LINE   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-127
INDEVICE   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-127

Summary of Contents for Motion Coordinator Euro 205

Page 1: ...Trio Motion Technology Motion Coordinator Technical Reference Manual Sixth Edition 2004 Revision 4...

Page 2: ...hange without notice Despite every effort in a manual of this scope errors and omissions may occur Therefore Trio cannot be held responsible for any malfunc tions or loss of data as a result Revision...

Page 3: ...o possibility of injury to any person or damage to machinery Control systems especially during installation can malfunction or behave unexpectedly Bearing this in mind users must ensure that even in t...

Page 4: ......

Page 5: ...ro 205 X 2 12 Euro 205 X Backplane Connector 2 13 Euro205 Feature Summary 2 19 Euro205X Feature Summary 2 20 Motion Coordinator MC206 2 22 Connections to the MC206 2 25 Amplifier Enable Watchdog Relay...

Page 6: ...ter 4 20 Hardware PSWITCH Daughter Board 4 23 Analog Output Daughter Board 4 25 SSI Servo Encoder Daughter Board 4 26 Differential Stepper Daughter Board 4 29 CAN Daughter Board 4 31 SERCOS Daughter B...

Page 7: ...y Gain 6 11 Velocity Feed Forward Gain 6 11 Diagnostic Checklists 6 13 PROGRAMMING 7 1 What is a program 7 3 Sequence 7 4 Selection 7 5 Iteration 7 5 Controller Functions 7 7 7 7 Identifiers 7 8 Expre...

Page 8: ...10 21 Terminal 10 22 Axis Parameters 10 23 Oscilloscope 10 26 Keypad Emulation 10 35 Table VR Editor 10 37 Jog Axes 10 38 Digital IO Status 10 42 Analogue Input Viewer 10 44 Linking to External Tools...

Page 9: ...ication 11 12 USING THE TRIO ACTIVEX CONTROL 12 1 Introduction 12 3 Requirements 12 3 Installation of the ActiveX Component 12 3 Using the Component 12 3 Connection Commands 12 4 Properties 12 7 Motio...

Page 10: ...DeviceNet Status LEDs 13 25 Ethernet 13 26 Default IP Address 13 26 The Subnet Mask 13 27 Connecting to the Trio Ethernet Daughter Board 13 28 REFERENCE 1 1 ATYPE 1 3 AXISSTATUS ERRORMASK 1 4 CONTROL...

Page 11: ...C H A P T E R CHAPTER0INTRODUCTION...

Page 12: ......

Page 13: ...programs or commands can be sent from an external computer Typical System Configuration The Motion Coordinator system is modular allowing the user to tailor the controller to their specific needs but...

Page 14: ...s an easy rapid way to develop control programs All the standard program constructs are provided variables loops input output maths and conditions Extensions to this basic instruction set exist to per...

Page 15: ...ket are built in Multi tasking Trio BASIC I O expansion is via CAN bus P150 Euro 205 For OEM applications Trio offer a 3U Eurocard format controller featuring 4 onboard axes plus the option for a furt...

Page 16: ...tted with an encoder or encoder emulation P210 Servo Resolver 10v Output Resolver Input plus Hardware Registration Input The servo resolver daughter board provides the inter face to a DC or Brushless...

Page 17: ...ows the pulses generated to be very accurately timed P260 Analogue Out put 10v Output with direct DAC control The voltage output daughter board provides a 12 bit 10v voltage output for driving inverte...

Page 18: ...viding digital control channels for servo drives utilising the SLM proto col P295 USB Interface Universal Serial bus interface for high speed PC communications The USB daughter board provides a very h...

Page 19: ...O expander module pro vides 16 opto isolated channels each of which may be used as an Input or an Output P325 CAN Analog Inputs DIN Rail mounted 10v Analog Input module pro vides 8 opto isolated chan...

Page 20: ...ion Products Trio Motion Technology Operator Interfaces Name Name Description P502 Mini Membrane Keypad Compact operator keypad display P503 Membrane Keypad High performance general purpose operator k...

Page 21: ...CAN 16 I O and 4 CAN Analog Input modules can be connected to any Motion Coordinator Typical System Configuration ENCODER V V R 0v 5 4 3 2 1 9 8 7 6 ENCODER V V R 0v 5 4 3 2 1 9 8 7 6 IO8 IO9 IO10 IO1...

Page 22: ...nal axes are configured as stepper axes and connected via the backplane to third party stepper drives An optional P200 Servo Daughter Board provides a fifth axis connected to a servo drive 5 servo axe...

Page 23: ...Channels 0 1 8 9 OFF PR DR NODE ADDRESS CAN Analog Inputs 7 6 5 4 3 2 1 0 0v 24v 1 2 4 8 16 32 MS NS Trio P325 CAN Analog Inputs CAN 16 I O 5 4 3 2 1 9 8 7 6 5 4 3 2 1 9 8 7 6 5 4 3 2 1 9 8 7 6 5 4 3...

Page 24: ...PR DR 10 11 12 13 14 15 24v Ov 9 8 7 6 5 4 3 2 1 0 0v 24v NODE ADDRESS CAN16 I O Trio 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 2 4 8 16 32 OFF MS NS PR DR 10 11 12 13 14 15 24v Ov 9 8 7 6 5 4 3 2 1 0 0...

Page 25: ...ost computer connected via USB or RS 232 serial port Membrane Keypad with Vacuum Fluorescent Display Dedicated Operator Panel using the Modbus serial protocol Switches Thumbwheels Status lamps The sys...

Page 26: ...o website contains up to the minute news information and support for the Motion Coordinator product range Website Features Latest News Product Information Manuals Support Software System Software Upda...

Page 27: ...C H A P T E R CHAPTER0HARDWARE OVERVIEW...

Page 28: ......

Page 29: ...On the MC202 up to 3 Trio BASIC programs can be run simultaneously I O Capability The MC202 has 4 built in 24v inputs and 4 built in bi directional input output channels These may be used for system i...

Page 30: ...ors Top 5 Way Connector This is a 5 way 3 81mm pitch connector The connector is used both to provide the 24 volt power to the MC202 and provide connections for I O expansion via Trio s P315 and P325 C...

Page 31: ...C202 with a servo OR stepper drive and should be used in all cases The connections are internally connected to a pair of normally open relay contacts which close when the drive is enabled I O Power In...

Page 32: ...nnected to the encoder via a screened cable and the screen connected to the panel ground Encoder Power Supply 2 pins provide a low power output at 5v 150mA maximum This supply is pro vided for driving...

Page 33: ...nnections Serial Cables Trio recommend the use of their pre made serial cables product code P350 If cables need to be made to connect to a PC serial port the following connections are required 1 2 3 4...

Page 34: ...mum 3 simulta neous Trio BASIC programs Speed Resolution 32 bit Speed may be changed at any time Moves may be merged Servo Cycle 1ms Memory 128 Kbytes flash user program memory Power Input 24V dc Clas...

Page 35: ...Motion Coordinator Technical Reference Manual Hardware Overview 2 9 Motion Coordinator MC202...

Page 36: ...OEM machine builders who are prepared to mount the unit and provide the power supplies required It is designed to be configured and programmed for the application with a Multi tasking Trio BASIC usin...

Page 37: ...LC or HMI interfacing If the built in CAN channel is not used for connecting I O modules it may option ally be used for CAN communications USB and Profibus daughter boards may be fitted to provide add...

Page 38: ...ernally connected to the AGND pins The Euro205 X has a current consumption of approximately 500mA on the 5v supply The supply should be filtered and regulated within 5 Built in CAN Connector The Euro2...

Page 39: ...1 R1 8 IN2 R2 IN3 R3 IN4 9 IN5 IN6 IN7 10 IN8 IN9 IN10 11 IN11 IN12 IN13 12 IN14 0v IN15 13 0v DIR2 0v 14 STEP1 STEP2 DIR3 15 DIR0 DIR1 STEP3 16 STEP0 FAULT RESET 17 ENABLE 1 ENABLE OC AIN 0 18 BOOST1...

Page 40: ...ntacts The enable relay will be open cir cuit if there is no power on the controller OR a following error exists on a servo axis OR the user program sets it open with the WDOG OFF command The amplifie...

Page 41: ...are NOT bi directional as on some Motion Coordinators Each channel has a protected 24v sourcing output The output circuit has electronic over current protection and thermal protection which shuts the...

Page 42: ...T output should not be turned ON on an axis where the registration input is used otherwise the BOOST output will be overloaded The BOOST outputs are separate from the registration function on the Euro...

Page 43: ...05X has the DAC chip soldered to the PCB Note that for servo operation the necessary feature enable codes must have been entered into the Euro205 Euro205X To use the voltage outputs the 12volt supplie...

Page 44: ...2 Internal 0v P348 supply Internal 0v P435 supply 3 RS232 Transmit Port 0 RS232 Transmit Port 0 4 0V 0V 5 RS232 Receive Port 0 RS232 Receive Port 0 6 Output to P348 Internal 5v 7 Input from P348 Outpu...

Page 45: ...circular helical CAM Profiles speed control electronic gearboxes Programming Multi tasking Trio BASIC system maximum 5 user tasks Speed Resolution 32 bits Speed may be changed at any time Moves may b...

Page 46: ...g Multi tasking Trio BASIC system maximum 7 user tasks Speed Resolution 32 bits Speed may be changed at any time Moves may be merged Servo Cycle 250us 500us or 1ms default Memory 256 Kbytes battery ba...

Page 47: ...Motion Coordinator Technical Reference Manual Hardware Overview 2 21 Motion Coordinator Euro205 X...

Page 48: ...uage using the powerful Motion Perfect development software for the PC Complex motion such as cams gears linked axes and interpolation is made easy with the comprehensive Trio BASIC command set I O Ca...

Page 49: ...sed with the MC206 allows a simple means of transferring programs without a PC connection Offering the OEM easy machine replication and servicing The memory stick is ordered separately from the MC206...

Page 50: ...is also built in to every MC206 Any axis of the 8 not used in hardware can be used as a virtual axis for camming on the fly registration adjustments and linking motion The MC206 can be a servo or step...

Page 51: ...ed as they power the MC206 The Shield MUST also be connected as it provides the EMC screen for the Motion Coordinator The CAN connections are optional Power supply 24V dc Class 2 transformer or power...

Page 52: ...odule provides a further 8 single ended 10v inputs with a 12 Bit reso lution 24v Input Channels The MC206 has 8 dedicated 24v Input channels and 8 bi directional 24v I O chan nels built into the maste...

Page 53: ...in the program The input circuitry is the same as on the dedi cated inputs The output circuit has electronic over current protection and ther mal protection which shuts the output down when the curren...

Page 54: ...enable relay may for example be incorporated within a hold up circuit or chain that must be intact before a 3 phase power input is made live Amplifier Enable Output Note ALL STEPPER AND SERVO AMPLIFI...

Page 55: ...a PC or other device supporting USB This port can be used for a high speed connection to Motion Perfect or to a user program on the PC via Trio s ActiveX component Pin Function Note 1 Internal 5v 2 In...

Page 56: ...s a stepper the con nector provides differential outputs for step direction and boost enable signals The encoder port also provides a current limited 5v output capable of powering most encoders This s...

Page 57: ...inuous motion Servo Cycle 250 s minimum for all axes 1 mS default Memory 256k battery backed user memory Entire contents may be flashed to EPROM Memory Stick Nexflash MediaStik Flash memory for progra...

Page 58: ...tem SRAM 8 M Bit Flash EPROM Flash Memory Stick 256k bytes Battery backed RAM 0 1 2 3 6 7 4 5 8 9 10 11 14 15 12 13 24v opto isolated I 0 8 15 24v opto isolated Inputs 0 7 Enable Watchdog Isolation Ex...

Page 59: ...at it can be powered from the 24V d c logic sup ply present in most industrial cabinets It is designed to be configured and pro grammed for the application using a PC run ning the Motion Perfect appli...

Page 60: ...C or HMI interfacing If the built in CAN channel is not used for connecting I O modules it may option ally be used for CAN communications USB and Profibus daughter boards may be fitted to provide addi...

Page 61: ...ning Motion Perfect for programming Motion Perfect may also be connected via USB with the optional P295 USB Daughter Board Serial Cables Trio recommend the use of their pre made serial cables product...

Page 62: ...Trio Membrane Keypads Note Any membrane keypads connected must have software version 2 01 or higher Serial Connector 0 Pin Function Notes 1 Internal 5v 2 Internal 0v 3 RS232 Transmit Serial Port 0 4...

Page 63: ...application software is ready The amplifier enable is a single pole relay with a set of normally open contacts The enable relay contact will be open circuit if there is no power on the control ler OR...

Page 64: ...lt in CAN channel This is primarily intended for Input Output expansion via Trio s P315 and P325 modules It may be used for other purposes when I O expansion is not required 0v 24v Amplifier Enable 1...

Page 65: ...not be switched on in the program 24v I O Channels Input output channels 8 15 are bi directional The inputs have a protected 24v sourcing output connected to the same pin If the output is unused it ma...

Page 66: ...electronic gearboxes Programming Multi tasking TRIO BASIC system maximum 15 tasks Speed Resolution 32 bits Speed may be changed at any time Moves may be merged Servo Cycle Programmable Default is 1ms...

Page 67: ...housed in a rugged metal chassis and incorporates all the isola tion circuitry necessary for direct connection to external equipment in an industrial envi ronment Filtered power supplies are included...

Page 68: ...acing If the built in CAN channel is not used for connecting I O modules it may option ally be used for CAN communications e g DeviceNet CANopen etc Ethernet CANbus and Profibus daughter boards may be...

Page 69: ...t in USB port Port 0 is the default connection between the Motion Coordinator and the host PC running Motion Perfect for programming As an option Motion Perfect may be connected via USB Serial Cables...

Page 70: ...d Trio Membrane Keypads Note Any membrane keypads connected must have software version 2 01 or higher Serial Connector 0 Pin Function Notes 1 Internal 5v 2 Internal 0v 3 RS232 Transmit Serial Port 0 4...

Page 71: ...software is ready The amplifier enables A and B are solid state relays with an ON resistance of 25 ohms at 100mA The enable relay will be open circuit if there is no power on the controller OR a foll...

Page 72: ...rily intended for Input Output expansion via Trio s P315 and P325 modules It may be used for other purposes when I O expansion is not required The CANbus port is electrically equivalent to a DeviceNet...

Page 73: ...not be switched on in the program 24v I O Channels Input output channels 8 15 are bi directional The inputs have a protected 24v sourcing output connected to the same pin If the output is unused it ma...

Page 74: ...Cycle Programmable 1 ms 500 usec or 250 usec Position Resolution 32 bit position count Speed Resolution 32 bits Speed may be changed at any time Moves may be merged Interpolation modes Linear 1 24 ax...

Page 75: ...C H A P T E R CHAPTER0INSTALLATION...

Page 76: ......

Page 77: ...should be mounted vertically and should not be subjected to mechanical loading Care should be taken to ensure that there is a free flow of air vertically around the unit The dimensions are as shown b...

Page 78: ...roducts The MC202 may be connected to other Motion Coordinator modules on the CAN bus only Environmental Considerations Ensure that the area around the ventilation holes and top of the module are kept...

Page 79: ...ound the unit Connection To Other TRIO Products The Euro205 may be connected to other Motion Coordinators on the CAN bus or fibre optic network only Environmental Considerations Avoid violent shocks t...

Page 80: ...o Motion Technology Motion Coordinator MC216 The Motion Coordinator MC216 modules are supplied with the same exterior packaging which has been specifically designed for ease of use and flexibility of...

Page 81: ...6 should be at the right hand end After mounting on the bulk head the interconnection bus cover may be removed by unscrewing the 2 secur ing screws The appropriate length of ribbon cable will be suppl...

Page 82: ...06 may be connected to other Motion Coordinators on the CAN bus or fibre optic network only Environmental Considerations Ensure that the area around the ventilation holes and top of the module are kep...

Page 83: ...e screening should be continuous even where the cable passes through a cabi net wall or connector These are just very general guidelines and for more specific advice on specific controllers see the in...

Page 84: ...ponents in the system must be connected together as specified by the manufacturer and even then it is possible for some interaction between different components to cause prob lems but obviously it is...

Page 85: ...should be connected to earth at both ends Termination of the screen should be made in a 360 degree connection to a metallised connector shell If the connection is to a screw terminal e g demand volta...

Page 86: ...wired in a typical system configu ration The wiring practices used in this test system must be followed to ensure the Trio products are compliant within the completed system A summary of the guidelin...

Page 87: ...example as lengths of unterminated cable hanging from an IO port can act as an antenna for noise 3 Screened cables should be used for encoder resolver and registration input feed back signals and for...

Page 88: ...3 14 Installation EMC Considerations Trio Motion Technology...

Page 89: ...C H A P T E R CHAPTER0DAUGHTER BOARDS...

Page 90: ......

Page 91: ...91 P292 P295 P296 and P297 can only be fitted in the master unit The Euro 205 has a single daughter board slot which can be used to provide a fifth axis in addition to the four axes maximum on board T...

Page 92: ...ina tor system If daughter boards need to be moved or replaced the following sequence must be followed The axis daughter boards are supplied in an anti static bag or box This should be used to hold th...

Page 93: ...ver If the ribbon cable is connected remove this by pushing the retaining levers outwards Unscrew the 8 screws which secure the right hand side cover of the module Unscrew the single screw which secur...

Page 94: ...position and the setting of the front panel selector switch on the Axis Expander Where digital drive communications daughter boards are used the axis number is set by software and may not necessarily...

Page 95: ...f a replacement double width front panel and 90 header connector Installation Procedure Ensure that anti static precautions are taken when handling the Euro205 board Check there is no power on the mod...

Page 96: ...rd with the standard shorter connector the board should be inserted into the holes nearest the edge of the adaptor as shown Place the Euro205 PCB down on a firm flat surface and insert the adaptor pin...

Page 97: ...ard at all times when not installed in the Motion Coordinator Installation Procedure Check there is no power on the module Turn the module face down and carefully remove the back moulding To remove th...

Page 98: ...ANBus and Profibus communications boards feature a longer connector and so the adaptor features a full length socket to accommodate these On an axis Daughter Board with the standard shorter connector...

Page 99: ...coder port provides differential line receiver inputs capable of counting up to 1MHz edge rate These inputs are opto isolated to maximise the noise immu nity of the system The encoder port also provid...

Page 100: ...der does not have complementary outputs pins 2 4 and 7 should be connected to a 2 5v bias voltage This may be simply derived from a pair of 220 Ohm resistors in series with one end of the pair connect...

Page 101: ...ition from low to high or vice versa This function is accessed in software from the REGIST command The input is measured relative to the 0v input on the servo daughter board which must be connected if...

Page 102: ...th these inputs can be used to record the position of the axis at the time of the event within less than 1 micro seconds This practically eliminates time delays and avoids interrupting the processor f...

Page 103: ...The reference oscillator runs at 2kHz and produces a 2volt output The servo function can be switched on or off with the SERVO axis parameter SERVO ON When the servo function is OFF the value in the a...

Page 104: ...l power supplies The encoder daughter board provides a hardware position capture function for both the encoder Z input and the dedicated 24volt registration input Transi tions of either polarity on bo...

Page 105: ...cted to 0v and the other end to 5v The centre point of the pair will form approximately 2 5v If the encoder does not have a marker pulse pins 6 and 7 may be left uncon nected Registration Input The re...

Page 106: ...pper daugh ter board and each features overcurrent protection Specifications Maximum Output Frequency In Single Half step mode the stepper daughter board can generate pulses at up to 62 Khz In microst...

Page 107: ...Motion Coordinator Technical Reference Manual Daughter Boards 4 19 Stepper Daughter Board Circuit Boost Direction Step Enable 0v Stepper Daughter Stepper Amplifier VE...

Page 108: ...ows the position of the motor to be checked on every servo cycle If the difference between the demanded number of steps and the measured position exceeds the programmed limit the Motion Coordinator ca...

Page 109: ...locally to the encoder In this case the 5V connection from pin 8 should not be used and the external supply 0v should be connected to pin 5 0V If the encoder does not have complementary outputs pins 2...

Page 110: ...number of steps the controller moves by or an integer factor higher If a factor higher is used the PP_STEP axis parameter should be set Example A stepper motor has 200 pulses rev and is driven with MI...

Page 111: ...hter board This allows the pulses generated to be very accu rately timed Encoder Connections The encoder connections for a hardware PSWITCH daughter board are identical to those on the encoder port of...

Page 112: ...ber in the range 0 15 en Switch enable 3 to enable as Hardware PSWITCH 1 or ON to ena ble as software PSWITCH 0 or OFF to disable Each switch may individually be cho sen as hardware or software in any...

Page 113: ...drive external servo amplifiers is generated between the V and V pins The voltage output is isolated and floating but if multiple daughter boards are fitted it should be noted that the boards share a...

Page 114: ...unction for both a 5V differential input and a dedicated 24volt registration input Transitions of either polarity on both these inputs can be used to record the position of the axis at the time of the...

Page 115: ...input is a 24v dc input connected through high speed opto isola tion into the encoder counter circuit An alternative 5v input pin is available on the encoder port The internal circuitry can be used t...

Page 116: ...I_BITS is set to 0 For example if a 12 bit multi turn encoder with 12 bits per turn is being used the command SSI_BITS 24 should be put at the start of the program or typed on the command line The SSI...

Page 117: ...ferential 5 volt signals on a 15 way D connector The daughter board does not feature an encoder port for position verification but does have a registration input to allow for capture of the number of...

Page 118: ...ation Apply ing 24 volts will damage the input circuit For 24 volt operation a 4k7 0 5Watt resistor must be added in series with the input A 2 pin terminal connector is provided for the registration i...

Page 119: ...ector Pinout is compatible with that suggested by the CAN in AUTOMATION organisation No terminating resistor is fitted internally to the CAN daughter board A 120 ohm resistor must be fitted between pi...

Page 120: ...RCOS is connected by 1mm polymer or glass fibre optic cable terminated with 9mm FSMA connectors The connectors on the daughter board and the drives in the network are colour coded and the ring is comp...

Page 121: ...for controlling between 1 and 3 axes which can be individ ual drives or a single drive using the CT Multiax concept SLM Connections The SLM connector is a 15 way high density D type socket Connect th...

Page 122: ...be the same supply as is used for the Motion Coordinator The power requirements are Supply voltage 24V d c 10 Current consumption 400mA in rush 100mA typical under normal running conditions Pin Functi...

Page 123: ...een the Motion Coordinator and a host PC fitted with a USB port Support for this high speed interface is included in Trio s Motion Perfect 2 appli cation and an ActiveX OCX software library is availab...

Page 124: ...ol as a slave Thus allowing a Modbus master to read and write integer or floating point values to the glo bal VRs and to access the I O Software Support Support for Ethernet is included in Trio s Moti...

Page 125: ...e to connect to a variety of third party Master devices using the Profibus DP protocol Connections Example A example Trio BASIC Profibus driver for cyclic data transfer is available from the Trio Web...

Page 126: ...4 38 Daughter Boards Profibus Daughter Board Trio Motion Technology...

Page 127: ...C H A P T E R CHAPTER0EXPANSION MODULES...

Page 128: ......

Page 129: ...aces can be easily connected to the Trio fibre optic network by building in a flexible interface board FO VFKB CAN 16 I O Module P315 The CAN 16 I O Module allows the 24 volt digital inputs and output...

Page 130: ...on 10 way connector Input Output Bank 8 15 and power supply for bank 8 15 on 10 way connector P165 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 2 4 8 16 32 OFF MS NS PR DR 10 11 12 13 14 15 24v Ov 9 8 NODE...

Page 131: ...istor should be 1 4 watt 1 metal film The cable required consists of Blue White 24AWG data twisted pair Red Black 22AWG DC power twisted pair Screen A suitable type is Belden 3084A P165 0 1 2 3 4 5 6...

Page 132: ...om the I O devices may be carried into the network DIP Switch Settings Alternative connection protocols The DIP switches can be set up to allow for different protocols to be used enabling the Trio I O...

Page 133: ...referred to above start at 16 This is because the numbering sequence starts with channels 0 15 which are on the Motion Coordinator master unit itself LENZE Drive Protocol The switch marked PR is set O...

Page 134: ...de Error Description 1 Invalid Protocol 2 Invalid Module Address 3 Invalid Data Rate 4 Uninitialised 5 Duplicate Address 6 Start Pending 7 System Shutdown 8 Unknown Poll 9 Poll Not Implemented 10 CAN...

Page 135: ...tem parameters which specify an input such as FWD_IN REV_IN DATUM_IN etc Outputs 8 31 ONLY are available for use with the PSWITCH command The built in I O channels have the fastest operation 1mS CAN I...

Page 136: ...250mA channel 1 Amp total bank of 8 I O s Protection Outputs are overcurrent and over temperature pro tected Indicators Individual status LED s Address Setting Via DIP switches Power Supply 24V dc Cl...

Page 137: ...Convenient disconnect terminals are used for the I O connections The input channels are designed for 10volt operation Each bank of 8 channels is opto isolated from the CAN bus I O Connections The CAN...

Page 138: ...in sequence There fore the first P325 Module should have the switch setting Note P325 modules and P315 16 I O modules may be mixed on the network The P315 addresses will be 0 to 15 in sequence and the...

Page 139: ...as sys tem parameters AIN0 AIN1 AIN2 and AIN3 This allows these values to be seen using the SCOPE function The P325 works single ended and does not return differential values It is not possible to mi...

Page 140: ...otection Inputs are protected against 24v over voltage Address Setting Via DIP switches Power Supply 24V dc Class 2 transformer or power source 18 29V dc 1 5W Mounting DIN rail mount Size 95mm wide x...

Page 141: ...ign their own keypad on Trio fibre optic network Third Party Modules It is possible to connect to a wide variety of third party operator interface panels via one of the Motion Coordinator s serial por...

Page 142: ...rol system is via a fibre optic cable to the Motion Coordinator master module or network of mas ter modules and membrane keypads The interfacing to the master is provided by a built in fibre optic int...

Page 143: ...restric tion could lead to a break in the cable or at very least attenuation of a signal giv ing a reduced distance over which the link will operate An excessive number of bends in the cable will att...

Page 144: ...ngular cutout and four holes are required as shown below The Keypad is offered up to the front of the panel and fixed with the four studs in the corners of the Keypad A depth of 50mm behind the front...

Page 145: ...er module or network of master modules The interfacing to the master is provided by a built in fibre optic interface module The only other connection necessary is a 24 Volts DC power supply input Moun...

Page 146: ...the fibre optic connector on the back Connection of Mini Membrane Keypad The connections are identical to the membrane keypad Programming the Membrane Keypad The Keypads make use of standard Trio BAS...

Page 147: ...the same column on the next line down 12 Form Feed The cursor moves to the top left hand corner 13 Carriage Return The cursor moves to the end on the same line 14 Clear All displayed characters are cl...

Page 148: ...hannel number in which case the numbers returned can be modified using DEFKEY Key Key Get 4 Value Get 3 Value Up Arrow 1 33 20 Left Arrow 2 34 22 Centre Button 3 35 24 Right Arrow 4 36 23 Down Arrow 5...

Page 149: ...on Mini Membrane enter 41 73 13 Menu Select 4 Bottom Left 45 77 50 Menu Select 3 46 78 51 Menu Select 2 47 79 52 Menu Select 1 Top Left 48 80 53 Menu Select 5 Top Right 49 81 54 Menu Select 6 50 82 5...

Page 150: ...ET 3 This character sequence is formatted as a Trio network message type 4 It is designed to work only when there is one keypad and one Motion Coordinator OR where the keypad is the next node in the n...

Page 151: ...Trio Motion Technology Material Polyester top layer resistant to most solvents Polyester top layer resistant to most solvents Data Output 8 bit serial no parity 8 bit serial no parity Summary of Featu...

Page 152: ...rted but connection may have to be made via a short cable from the display to the FO VFKB To give reliable noise free trans mission of data to and from the FO VFKB the link to the master module is mad...

Page 153: ...al The board is diode protected against reverse voltages being applied to the power connector With power applied to the board the green LED on the top of the board should be lit Data Connection The da...

Page 154: ...transmitter only when required If the transmit enable input is left unconnected the transmit ter will be permanently enabled Note Two different adaptors are available P348 for the Euro 205 and MC216 a...

Page 155: ...RS232 Transmit pass through 4 0v input to power adapter 5 RS232 Pass through 0v 6 no connection 7 Transmit enable input 8 Logic level receive 9 Logic level transmit 25 Way Female D Connector 1 4 No c...

Page 156: ...numbers less than 00081 do not have an RS485 transmit enable output available and can only be used with a point to point RS485 connection not multi drop To use the MC202 in a multi drop configuration...

Page 157: ...ble the connection of the Trio Mini membrane Membrane Key pad and the FO VFKB The adapter provides a pass through connector for the RS 232 serial port Note On the MC202 the fibre optic adapter may be...

Page 158: ...5 32 Expansion Modules Communications Adaptors Trio Motion Technology...

Page 159: ...C H A P T E R CHAPTER0SYSTEM SETUP AND DIAGNOSTICS...

Page 160: ......

Page 161: ...stems differ a sepa rate description is provided for each In multiple axis systems it is advantageous to set up one axis at a time The following procedure applies both to all Motion Coordinator module...

Page 162: ...t the serial lead is connected between the Motion Coordinator master serial connector A and a free serial port on the computer Apply 24v to the Motion Coordinator Run Motion Perfect on the computer Wh...

Page 163: ...oard in axis slot 2 A CAN16 I O module which adds a further 16 I O channels making a total of 32 channels All 32 can be used as inputs channels 8 31 are bidirectional and may be used as input or outpu...

Page 164: ...u whilst turning the axis by hand Ensure the SERVO axis parameter is set OFF 0 in the Axis parameter and that the DAC axis parameter is set to 0 It may be necessary to use the scroll buttons to view t...

Page 165: ...ifferential inputs reverse the voltage as it enters the drive This can cause problems with some servo drives The V pins of the daughter board are internally connected inside the Motion Coordinator so...

Page 166: ...oller checks the following error typically 1000 times per second and updates the voltage output according to the servo function The Motion Coordinator has 5 gain values which control how the servo fun...

Page 167: ...response can vary depending on the type of machine Different gain settings can be used to obtain Smoothest motor running This can be achieved by using low proportional gain values adding output veloc...

Page 168: ...proportional to the sum of the errors that have occurred during the system operation Oi Ki x SE Integral gain can cause overshoot and so is usually used only on systems work ing at constant speed or...

Page 169: ...required for damping Axis parameter is called OV_GAIN Syntax OV_GAIN 5 Velocity Feed Forward Gain Description As movement is created by following errors at high speed the following error can be quite...

Page 170: ...P_GAIN Derivitive Gain D_GAIN Integral Gain I_GAIN Velocity FeedForward V F F _ G A I N Output Velocity OV_GAIN Resultant Speed Demand Servo Amplifier Quad Pulse Decoder Quad Count 10v Speed Referenc...

Page 171: ...gains drive and or controller Motor runs away upon issu ing a move command tacho feedback encoder feedback gains drive and or controller Motor does not move upon issuing a move command wiring enables...

Page 172: ...erial port 0 If this prevents Motion Perfect connecting to the controller open Terminal screen in Motion Perfect unconnected mode and type a halt command at the command prompt Faulty or unconnected se...

Page 173: ...C H A P T E R CHAPTER 0PROGRAMMING...

Page 174: ...7 2 Programming Trio Motion Technology...

Page 175: ...r program must be written using a set of rules known as Syntax You must follow these rules if you are to write Trio BASIC programs Trio BASIC instructions are divided into the following types Instruct...

Page 176: ...ers a RETURN command the program will jump back to the GOSUB from where it originally came Take the following example PRINT Hello GOSUB a_subroutine STOP a_subroutine PRINT World RETURN The program wi...

Page 177: ...execute one or more commands automatically either for a specified number of times or until a certain condition is met or event occurs Example REPEAT GOSUB index_conveyor UNTIL IN product_sensor ON Tri...

Page 178: ...en slowing the program has left the loop You can also next loops to create a loop within a loop as the following example shows FOR a 1 TO 5 PRINT MAIN A a FOR a 1 TO 10 PRINT LITTLE B a NEXT a NEXT a...

Page 179: ...used to display a message or numeric value on the computer screen or another output device such as a printer Instructions vary in complexity and will take a variety of formats Some will be a single ke...

Page 180: ...program to a specific place In Trio BASIC labels are defined by placing a name at the start of the line followed by a colon e g start enter_password error_handler Variables Variables are storage loca...

Page 181: ...is deemed to be any non zero result In programming the component parts of an expression are known as operands and operators The operands are the values either specific numbers or variables The operato...

Page 182: ...get_length and two operators assignment divide Reading the above as simple English would equate to Divide the variable total_ length by widget_length and assign the result to the variable num_widgets...

Page 183: ...N 2 P_GAIN AXIS 8 0 25 VP_SPEED AXIS 2 A list of all the axis parameters is given in chapter 8 System Parameters Trio BASIC holds a list of parameters which are common for the whole controller These p...

Page 184: ...the available processing time The default servo period is 1mS This period is internally divided into 3 time slots of 1 3mS each which are used internally for processing the servo functions communicat...

Page 185: ...refore reduce as the number of programs running increases In practice however a useful execution speed is still obtained Processes 1 12 are referred to as slow tasks Programs can be forced to run on a...

Page 186: ...mal slow tasks One fast task two normal slow tasks This example shows the case where there is one fast task only This is the exception to the rule as it is allocated BOTH fast time slots 1ms 1ms 1ms 1...

Page 187: ...controller can be set up by opening a Terminal window in Motion Perfect The command line interface always uses channel 0 Typing Commands for Immediate Execution When the controller is waiting for a T...

Page 188: ...e unpredictable results Tip The command line features a buffer of the last 10 commands used This can save a lot of typing on the PC Pressing the up arrow or down arrow cycles through the buffer If you...

Page 189: ...speed then move forward then back PRINT EXAMPLE PROGRAM 2 SPEED 100 ACCEL 1000 DECEL 1000 MOVE 250 MOVEABS 0 STOP Note that the last line stops the program not the motion The first line is a comment I...

Page 190: ...7 18 Programming Command Line Interface Trio Motion Technology...

Page 191: ...C H A P T E R CHAPTER0TRIO BASIC COMMANDS...

Page 192: ......

Page 193: ...26 DATUM 8 27 DEC 8 28 DEFPOS 8 29 FORWARD 8 30 MATCH 8 30 MHELICAL 8 31 MOVE 8 32 MOVEABS 8 33 MOVECIRC 8 35 MOVELINK 8 36 MOVEMODIFY 8 40 REGIST 8 41 RAPIDSTOP 8 43 REVERSE 8 43 Input Output Command...

Page 194: ...3 ELSEIF 8 63 ENDIF 8 65 FOR TO STEP NEXT 8 65 GOSUB 8 66 GOTO 8 67 IDLE 8 68 IF THEN ELSE ENDIF 8 68 NEXT 8 69 ON GOSUB 8 69 ON GOTO 8 70 REPEAT UNTIL 8 70 RETURN 8 71 STEP 8 71 STOP 8 71 THEN 8 72 T...

Page 195: ...CONTROL 8 83 COPY 8 84 DATE 8 84 DATE 8 84 DAY 8 85 DAY 8 85 DEL 8 85 DEVICENET 8 86 DIR 8 87 DISPLAY 8 87 DLINK 8 88 EDPROG 8 92 EDIT 8 93 EPROM 8 93 ERROR_AXIS 8 94 ETHERNET 8 94 EX 8 95 EXECUTE 8 9...

Page 196: ...ECT 8 112 SLOT 8 113 SERCOS 8 113 SERVO_PERIOD 8 114 STEPLINE 8 115 STICK_READ 8 115 STICK_WRITE 8 116 STORE 8 116 TABLE 8 117 TABLEVALUES 8 118 TIME 8 119 TIME 8 119 TRIGGER 8 119 TROFF 8 119 TRON 8...

Page 197: ...rations and Commands 8 131 Add 8 131 Subtract 8 131 Multiply 8 132 Divide 8 132 Equals 8 133 Not Equal 8 133 Greater Than 8 134 Greater Than or Equal 8 134 Less Than 8 135 Less Than or Equal 8 135 ABS...

Page 198: ...150 ACCEL 8 150 ADDAX_AXIS 8 150 ATYPE 8 150 AXISSTATUS 8 151 BOOST 8 152 CAN_ADDRESS 8 152 CAN_ENABLE 8 152 CLOSE_WIN 8 153 CLUTCH_RATE 8 153 CREEP 8 153 DAC 8 154 DAC_OUT 8 155 DAC_SCALE 8 155 DATU...

Page 199: ...164 MARKB 8 164 MERGE 8 165 MICROSTEP 8 165 MPOS 8 166 MSPEED 8 166 MTYPE 8 167 NTYPE 8 167 OFFPOS 8 168 OPEN_WIN 8 169 OUTLIMIT 8 169 OV_GAIN 8 169 PP_STEP 8 170 P_GAIN 8 171 REG_MATCH 8 171 REG_POS...

Page 200: ...8 10 Trio BASIC Commands Trio Motion Technology VERIFY 8 178 VFF_GAIN 8 178 VP_SPEED 8 179...

Page 201: ...ations such as a roll feed where you need a secondary encoder to compensate for slippage The ADD_DAC function allows the output of 2 servo loops to be summed on to the speed demand output to a drive T...

Page 202: ...s This is so that the software will per form the servo algorithm on that axis The ADD_DAC link can be terminated by setting ADD_DAC 1 Example 1 ADD_DAC 2 AXIS 1 Combine axis 2 DAC with axis 1 ADDAX 1...

Page 203: ...SERVO is set to OFF on an axis with an encoder interface the measured position MPOS is copied into the demand position DPOS This allows ADDAX to be used to sum encoder inputs Parameter Note The ADDAX...

Page 204: ...irtual axis SERVO AXIS 1 OFF ADDAX 1 AXIS 2 CAMBOX 1000 1100 4 600 2 AXIS 0 AXIS Type Modifier Syntax AXIS expression Description Assigns ONE command or axis parameter read or assignment to a particul...

Page 205: ...h axis so each axis is capable of being programmed with its own speed acceleration etc and moving independently and simultaneously OR they can be linked together by interpolation or linked moves The A...

Page 206: ...declared value then it will fill in any remaining axes in sequence Example 3 Set BASE array on a 16 axis MC216 controller BASE 2 6 10 This will set the internal array of 16 axes to 2 6 10 11 12 13 14...

Page 207: ...nds executing simultaneously can use the same val ues in the table table multiplier The table values are absolute positions from the start of the motion and are normally specified in encoder edges The...

Page 208: ...the ENDMOVE parameter is set to the end of the PREVIOUS move Table Position Degrees Value 1 0 0 2 20 1103 3 40 3340 4 60 6500 5 80 10263 6 100 14236 7 120 18000 8 140 21160 9 160 23396 10 180 24500 1...

Page 209: ...ts to define a smooth profile Parameters start point The cam table may be used to hold several profiles and or other information To allow freedom of use each command specifies where to start in the ta...

Page 210: ...FOR p 0 TO num_p TABLE p SIN PI 2 p num_p PI 2 p num_p scale NEXT p link options Bit Values 1 link commences exactly when registration event occurs on link axis 2 link commences at an absolute positio...

Page 211: ...to the derivative of the position curve above Speed Curve Example 2 A rotating drum feeding labels is activated when a product conveyor reaches a posi tion held in the variable start This example use...

Page 212: ...as been can celled 800 This scales the TABLE values Each CAMBOX motion would therefore total 800 2000 encoder edges steps 80 The distance on the product conveyor to link the motion to The units for th...

Page 213: ...n mode The parameters for this mode are treated differently to the standard CAMBOX func tion CAMBOX start end control block pointer link dist link axis options The start and end parameters specify the...

Page 214: ...m software will then write 1 into this position The value written should be inside the pattern such that the value CB 2 CB 1 CB 3 2 START PATTERN R The position in the TABLE of the first pattern value...

Page 215: ...Run whole lot with single CAMBOX Third parameter is pointer to first control block CAMBOX 100 150 200 5000 1 20 WAIT UNTIL IN 7 OFF TABLE 305 0 Set zero repeats This will stop at end of pattern Note...

Page 216: ...own at the programmed deceleration rate then terminated Other move types will be terminated immediately CANCEL 1 clears a buffered move leaving the current executing movement intact Note Cancel will o...

Page 217: ...speed one quarter of the measured rate from an encoder mounted on the incoming conveyor The roller is wired to the master axis 0 An encoder daughter board monitors the encoder pulses from the conveyor...

Page 218: ...ancelling Move 1 The axis moves at creep speed forward till the Z marker is encountered The Demand position is then reset to zero and the Measured position cor rected so as to maintain the following e...

Page 219: ...xis moves at programmed speed forward until the datum switch is reached The axis then reverses at creep speed until the datum switch is reset It then continues in reverse looking for the Z marker on t...

Page 220: ...sition Note 2 Changes to the axis positions made via DEFPOS and OFFPOS are made on the next servo update This can potentially cause problems as the user program may con tinue to execute commands after...

Page 221: ...Command Syntax MATCH count table address Description Instructs the controller to perform a pattern comparison between a stored pattern of registration input transitions and the pattern held following...

Page 222: ...are similar to those of an MOVECIRC command The sixth parameter defines the simultaneous linear move Finish 1 and centre 1 are on the current BASE axis Finish 2 and centre 2 are on the following axis...

Page 223: ...mand the second to the next axis in the BASE array etc By changing the axis uninterpolated unsynchronised multi axis motion can be achieved Incremental moves can be merged together for profiled contin...

Page 224: ...ed no matter what the plot position The command subroutine for the letter M might be m MOVE 0 12 move A B MOVE 3 6 move B C MOVE 3 6 move C D MOVE 0 12 move D E MOVEABS Type Motion Command Syntax MOVE...

Page 225: ...tion employed for the movement are taken from the BASE AXIS for the group Note2 The position of the axis zero positions can be moved by the commands OFF POS DEFPOS REP_DIST REP_OPTION and DATUM Exampl...

Page 226: ...unit conversion factor for each axis Parameters Note In order for the MOVECIRC command to be correctly executed the two axes gen erating the circular arc must have the same number of encoder pulses li...

Page 227: ...d for controlling movements such as Synchronization to conveyors Flying shears Thread chasing tapping etc Coil winding The motion consists of a linear movement with separately variable acceleration an...

Page 228: ...B If the sum of parameter 3 and parameter 4 is greater than parameter 2 they are both reduced in proportion until they equal parameter 2 link axis Specifies the axis to link to It should be set to 0 n...

Page 229: ...ter this distance the shear accelerates up to match the speed of the paper coasts at the same speed then decelerates to a stop within the 1m stroke This movement is specified using two separate MOVELI...

Page 230: ...le 3 Exact Ratio Gearbox MOVELINK can be used to create an exact ratio gearbox between two axes Suppose it is required to create gearbox link of 4000 3072 This ratio is inexact 1 30208333 and if enter...

Page 231: ...ype Axis Command Syntax MOVEMODIFY absolute position Alternate Format MM Description This move type changes the absolute end position of the current single axis linear move MOVE MOVEABS If there is no...

Page 232: ...o stop at 250mm REGIST Type Axis Command Syntax REGIST mode distance Description The regist command captures an axis position when it sees the registration input or the Z mark on the encoder The captu...

Page 233: ...ed if the axis measured position is not in the range Less than OPEN_WIN or Greater than CLOSE_WIN Note The REGIST command must be re issued for each position capture Example REGIST 3 256 WAIT UNTIL MA...

Page 234: ...ORWARD REVERSE MOVECIRC MHELICAL will be ramped down Others will be immediately cancelled The next move buffers and the process buffers are NOT cleared REVERSE Type Axis Command Alternate Format RE De...

Page 235: ...e The speed of a production line is to be governed by the rate at which material is fed onto it The material feed is via a lazy loop arrangement which is fitted with an ultra sonic height sensing devi...

Page 236: ...imal representation of the voltage input and is in the range 2048 to 2047 corresponding to voltage inputs in the range 2 048V to 2 047V CURSOR Type Command Description The CURSOR command is used in a...

Page 237: ...d to send individual ASCII characters which are referred to by number PRINT CHR x is equivalent to PUT x in some other version of BASIC Example PRINT CHR 65 A DEFKEY Type Command Description Under mos...

Page 238: ...Y can only be used to redefine input on channel 3 FLAG Type Command Function Syntax FLAG flag no value Description The FLAG command is used to set and read a bank of 32 flag bits The FLAG com mand can...

Page 239: ...Flags 1 4 and 7 ON all others OFF FLAGS 146 2 16 128 Example 2 Test if FLAG 3 is set IF FLAGS and 8 0 then GOSUB somewhere GET Type Command Description Waits for the arrival of a single character on t...

Page 240: ...a key in a user menu routine g_edit PRINT kpd CHR 12 CHR 14 CHR 20 PRINT kpd CURSOR 00 General Setup1 PRINT kpd CURSOR 20 Cut Length VR clength GET kpd option IF option lastmenu OR option f1 THEN RETU...

Page 241: ...it returns the value 1 or 0 of that par ticular input channel If called with 2 parameters IN returns in binary sum of the group of inputs In the 2 parameter case the inputs should be less than 24 apar...

Page 242: ...epeated Multiple inputs may be requested on one line separated by com mas or on multiple lines separated by CR Example1 INPUT num PRINT BATCH COUNT num 0 On terminal 123 CR BATCH COUNT 123 Example2 ge...

Page 243: ...mmand Syntax INVERT_IN input on off Description The INVERT_IN command allows the input channels 0 31 to be individually inverted in software This is important as these input channels can be assigned t...

Page 244: ...es starting at a specified numbered variable The string must be terminated with a carriage return CR which is also stored The string is not echoed by the control ler Parameters None Example LINPUT VR...

Page 245: ...he first 24 outputs are read back This allows multiple outputs to be set without corrupting others which are not to be changed Note The first 8 outputs 0 to 7 do not physically exist on the Motion Coo...

Page 246: ...ma and semi colon are used to control the for mat of strings to be output Example 1 PRINT CAPITALS and lower case CAN BE PRINTED Suppose VR 1 6 and variab 1 5 print output will be Example 2 PRINT 123...

Page 247: ...on the end of the print line suppresses the carriage return normally sent at the end of a print line ASCII 13 generates CR without a line feed so the line above would be printed on top of itself if it...

Page 248: ...be used with all 7 parameters to enable a switch just the first 2 parameters are required to disable a switch Parameters 7 RS 232 port A channel 7 8 RS 232 port A channel 8 reserved for use by Motion...

Page 249: ...10 edges If we set the unit conversion factor to 10 we can then work in degrees Next we have to determine a value for all the PSWITCH parameters This can all be put together to form the two lines of...

Page 250: ...rnal computer into the global variables of the Motion Coordinator over a serial communications port The data is transmitted from the PC in binary format with a CRC checksum A detailed descrip tion of...

Page 251: ...ion Coordinator would have the following send routine SEND 10 1 100 value Set vr 100 on dest to value count Number of transitions to record The actual transitions seen may be greater than this number...

Page 252: ...s parameters to be set by the user By default the controller set the RS232 C port to 9600 baud 7 data bits 2 stop bits and even parity ENCODER V V R 0v 5 4 3 2 1 9 8 7 6 ENCODER V V R 0v 5 4 3 2 1 9 8...

Page 253: ...RESS parameter must also be set before the Modbus protocol is activated set up RS485 port at 19200 baud 8 data 1 stop even parity and enable the MODBUS comms protocol ADDRESS 1 SETCOM 19200 8 1 2 2 4...

Page 254: ...8 64 Trio BASIC Commands Input Output Commands Trio Motion Technology...

Page 255: ...s context it defines a routine to be run when an error occurs in a Trio BASIC command Example ON BASICERROR GOTO error_routine rest of program error_routine PRINT The error RUN_ERROR 0 PRINT occurred...

Page 256: ...R cycle_flag 0 ELSEIF IN start_cycle ON THEN VR cycle_flag 1 ELSEIF IN step1 ON THEN VR cycle_flag 99 ENDIF Example 2 IF key_char 31 THEN GOSUB char_1 ELSEIF key_char 32 THEN GOSUB char_2 ELSEIF key_c...

Page 257: ...ng this loop the variable is initialized to the value of start and the block of commands is then executed Upon reaching the NEXT command the variable defined is incremented by the speci fied STEP The...

Page 258: ...and NEXT commands are both within the outer FOR NEXT loop FOR x 1 TO 8 FOR y 1 TO 6 MOVEABS x 100 y 100 WAIT IDLE GOSUB operation NEXT l2 NEXT l1 Note FOR NEXT loops can be nested up to 8 deep in each...

Page 259: ...Parameters Example loop PRINT Measured Position MPOS CHR 13 WA 1000 GOTO loop Note Labels may be character strings of any length Only the first 15 characters are sig nificant Alternatively line numbe...

Page 260: ...Complete IF THEN ELSE ENDIF Type Program Structure Syntax IF condition THEN commands ELSE commands ENDIF Description The command evaluates the condition and if it is true it executes the commands spec...

Page 261: ...he ENDIF is used to mark the end of the conditional block NEXT Type Program Structure Description Used to mark the end of a FOR NEXT loop See FOR ON GOSUB Type Program Structure Syntax ON expression G...

Page 262: ...labels then an error occurs Once the label is selected a GOTO is performed Example REPEAT GET 3 char UNTIL 1 char and char 3 ON char GOTO mover stopper change REPEAT UNTIL Type Program Structure Synt...

Page 263: ...h process can be nested up to 8 deep Example calculate in subroutine GOSUB calc PRINT Returned from subroutine STOP calc x y z 2 RETURN STEP Type Program Structure Description This optional parameter...

Page 264: ...d after a THEN statement TO Type Program Structure Description Precedes the end value of a FOR NEXT loop Example FOR x 10 TO 0 STEP 1 UNTIL Type Program Structure Description Defines the end of a REPE...

Page 265: ...illiseconds specified in the param eter Parameters Example OP 11 OFF WA 2000 OP 17 ON This turns output 17 off 2 seconds after switching output 11 off WAIT IDLE Type Command Description Suspends progr...

Page 266: ...OP 45 ON MOVE 200 WAIT LOADED OP 45 OFF WAIT UNTIL Type Command Syntax WAIT UNTIL condition Description Repeatedly evaluates the condition until it is true then program execution contin ues Parameter...

Page 267: ...are continuously executed until the condition becomes FALSE Execution then continues after the WEND Parameters Example WHILE IN 12 OFF MOVE 200 WAIT IDLE OP 10 OFF MOVE 200 WAIT IDLE OP 10 ON WEND WEN...

Page 268: ...nge of 1 32 Example ADDRESS 5 APPENDPROG Type System Command This function is used by the Motion Perfect editor Syntax APPENDPROG string Alternate Format string Description This command appends a line...

Page 269: ...n Syntax CAN channel function parameters Description This function allows the CAN communication channels to be controlled from the Trio BASIC programming system All Motion Coordinator s have a single...

Page 270: ...way it is necessary to obtain a copy of the chip data sheet The CAN command provides access to 10 separate functions CAN channel function Channel Channel Number Maximum Baudrate Built in CAN 1 500 KH...

Page 271: ...MC224 CANIO_ADDRESS Type System Parameter Stored in FLASH Eprom Description The CANIO_ADDRESS holds the address used to identify the Motion Coordinator when using the Trio CAN I O networking The valu...

Page 272: ...set to OFF CANIO_STATUS Type System Parameter Description A bitwise system parameter CHECKSUM Type System Parameter Read Only Description The checksum parameter holds the checksum for the programs in...

Page 273: ...variables are always cleared prior to program running If used in a program CLEAR sets local variables in this pro gram only to zero as well as setting the global variables to zero CLEAR does not alter...

Page 274: ...etwork channel 2 RX structure error on Network channel 3 TX structure error on Network channel 4 Port 0 Rx data ready 5 Port 0 Rx Overrun 6 Port 0 Parity Error 7 Port 0 Rx Frame Error 8 Port 1 Rx data...

Page 275: ...ons boards COMPILE Type System Command Description Forces compilation to intermediate code of the currently selected program Pro gram compilation is performed automatically by the system software prio...

Page 276: ...ime clock The number may be entered in DD MM YY or DD MM YYYY format Example 1 DATE 20 10 98 or DATE 20 10 2001 Example2 PRINT DATE 36956 This prints the number representing the current day This numbe...

Page 277: ...ign ment Example DAY 3 DAY 3 0000 DAY Type System Command MC216 only Description Prints the current day as a string Example DAY 3 0000 DEL Type System Command Alternate Format RM Syntax DEL progname D...

Page 278: ..._in_len 1 TABLE poll_base poll_in_len poll_out_len Example 1 Start the DeviceNet protocol on the built in CAN port DEVICENET 1 0 500 30 0 4 2 Example 2 Stop the DeviceNet protocol on the CAN board in...

Page 279: ...Motion Coordinator Command Line DISPLAY Type System Parameter Description Determines the I O channels to be displayed on the front panel LEDS Certain controllers such as the Euro205 and MC206 do not h...

Page 280: ...INT DLINK 0 0 0 3 117 0000 Write a register on the SLM ASIC Function Specifies the required function 0 Read a register on the SLM ASIC 1 Write a register on the SLM ASIC 2 Check for presence SLM modul...

Page 281: ...ve MUST be powered up after power is applied to the Motion Coordinator SLM Parameters Example DLINK 3 0 0 0 0000 Assign a Motion Coordinator axis to a SLM channel Function 1 Slot The communications sl...

Page 282: ...SIC The number of the ASIC to be used Axis The axis to be associated with this drive If this axis is already assigned then it will fail The ATYPE of this axis will be set to 11 Function 5 Axis The axi...

Page 283: ...ample PRINT DLINK 9 2 11 0000 This example is for slot 1 asic 1 Read an EEPROM parameter Parameters Function 7 Axis The axis to be associated with this drive Command The command number see drive docum...

Page 284: ...D Delete line line from the currently selected program line I string Insert the text string in the currently selected pro gram at the line line Note you should NOT enclose the string in quotes unless...

Page 285: ...ter has been set to 1 The EPROM n functions are only usable on an MC206 and MC224 Note This command should only be used on the command line Motion Perfect performs the EPROM command automatically when...

Page 286: ...limit Example ERROR_AXIS ETHERNET Type System Command Syntax ETHERNET read write slot number function data Description The command ETHERNET is used to read and set certain functions of the Ethernet d...

Page 287: ...ed Watchdog is set OFF Programs may be run depending on POWER_UP and RUNTYPE settings ALL axis parameters are reset function Function number must be one of the following values 0 IP Address 1 Static 1...

Page 288: ...CUTE Type System Command Description Used to implement the remote command execution via the USB interface For more details see the section on using the OCX control FEATURE_ENABLE Type System Function...

Page 289: ...tributor Example 2 In example one axes 0 and 1 are enabled for stepper operation If axis 2 was required to operate as a stepper axis it would be necessary to obtain the password For this card and this...

Page 290: ...dreds of millions of times It does however have a finite life and cannot easily be replaced Programmers MUST allow for this fact Note The FLASHVR function is provided on controllers without batteries...

Page 291: ...need to do this A machine system can be specified with several different frames The currently active FRAME is specified with the FRAME system parameter The default FRAME is 0 which corresponds to a o...

Page 292: ...END OF NUMBER TOKEN 9 1 TOKEN 10 1 TOKEN 11 1 IN TOKEN 12 1 SPACE TOKEN 13 1 AND TOKEN 14 1 SPACE TOKEN 15 1 NUMBER TOKEN 16 3 Digits 2 5 5 19 1 END OF NUMBER TOKEN 20 1 END OF LINE Byte Length Value...

Page 293: ...iption Sets all axis system and process parameters to their default values The parame ters are also reset each time the controller is powered up or when an EX software reset command is performed When...

Page 294: ...rfect The command STORE is then used to transfer the updated copy of the system software into the FLASH EPROM for use on the next power up To re load the system software you will need the system softw...

Page 295: ...sh eprom When a Motion Coordinator is locked it is not possible to view edit or save any pro grams and command line instructions are limited to those required to execute the program To unlock the Moti...

Page 296: ...ROR_AXIS contains the number of the first axis to have an error When any axis has a motion error then the watchdog relay is opened A motion error can be cleared by resetting the controller with an EX...

Page 297: ...to store any more characters in the current input channel then XOFF is sent even though there may be enough space in a different channel buffer to receive more characters 2 Channel handshaking on XON...

Page 298: ...memory It also may be used to delete the current TABLE entries Note NIO Type System Parameter Read Only Description This parameter returns the number of inputs outputs fitted to the system or con nec...

Page 299: ...PEEK Type System Command Syntax PEEK address mask Description The PEEK command returns value of a memory location of the controller ANDed with an optional mask value POKE Type System Command Syntax P...

Page 300: ...S Type System Command Description Displays the running status and process number for each current process PROFIBUS Type System Command Syntax PROFIBUS slot function register value Description The comm...

Page 301: ...EMOTE function execution of BASIC statements is suspended RENAME Type System Command Description Renames a program in the Motion Coordinator directory Example RENAME car voiture Note Motion Perfect us...

Page 302: ...sausage this will run the named program Example 3 RUN sausage 3 run the named program on a particular process RUNTYPE Type System Command Syntax RUNTYPE progname autorun process Description Sets wheth...

Page 303: ...sing the Save TABLE file option under the File menu Motion Perfect uses the SCOPE command when running the Oscilloscope function Parameters Example 1 SCOPE ON 10 0 1000 MPOS AXIS 5 DPOS AXIS 5 This ex...

Page 304: ...e SCOPE function is currently storing its parameters SELECT Type System Command Description Selects the current active program for editing running listing etc SELECT makes a new program if the name en...

Page 305: ...on control is possible In the final phase the master trans mits control information and the slaves transmit status feedback information every cycle time The Motion Coordinator SERCOS hardware uses the...

Page 306: ...ervo period on the MC202 and Euro205 controllers or where the stepper daughter board is being used Where the MC216 is being used for servo axes the servo period may be adjusted down to around 0 0005 s...

Page 307: ...function returns TRUE 1 if the STICK_READ was successful and FALSE 0 if the command failed if for example the FlashStick is not present Program name This specifies the program to be stepped All copies...

Page 308: ...E Type System Command Description Stores an update to the system software into FLASH EPROM This should only be necessary following loading an update to the system software supplied by TRIO See also LO...

Page 309: ...parameter is specified the table value at that entry is returned As the table can be written to and read from it may be used to hold information as an alternative to variables The values in the table...

Page 310: ...ES Type System Command Syntax TABLEVALUES first table number last required table number format Description Returns a list of table points starting at the number specified There is only one for mat sup...

Page 311: ...only Description Prints the current time as defined by the real time clock as a string in 24hr format Example TIME 14 39 02 TRIGGER Type System Command Description Starts a previously set up SCOPE com...

Page 312: ...ROFF The trace mode may be halted by issuing a STOP or HALT command Motion Perfect highlights lines containing TRON in its editor and debugger Example TRON MOVE 0 10 MOVE 10 0 TROFF MOVE 0 10 MOVE 10...

Page 313: ...ed or seen UNLOCK 561234 The system is now unlocked Note 1 It is not normally necessary to use the LOCK UNLOCK commands from the command line as the they are available directly from the Controller men...

Page 314: ...system software installed on the Motion Coordi nator Example VERSION 1 5000 VIEW Type System Command Description Lists the currently selected program in tokenised and internal compiled format Example...

Page 315: ...rocesses write unexpectedly to a global variable the programs should be written so that only one program writes to the global variables The numbered variables can be changed by remote controllers on t...

Page 316: ...s The WDOG ON command MUST be issued in a program prior to executing moves It may then be switched ON and OFF under program control If however a following error condition exists on any axis the system...

Page 317: ...ted PRINT Hello GOTO Routine PRINT Goodbye Goodbye will not be printed Similarly with GOSUB because subroutine calls return to the following line Type Special Character Description A single is used to...

Page 318: ...will only be used when the controller is running in Motion Perfect mode See MPE command Example 1 PRINT 3 Membrane Keypad PRINT 2 Port 2 Example 2 Check membrane keypad on fibre optic channel IF KEY...

Page 319: ...es the active input device Specifying an INDEVICE for a proc ess allows the channel number for a program to set for all subsequent GET and KEY INPUT and LINPUT statements This command is not usually r...

Page 320: ...cesses encounters a movement command the process loads the movement requirements into its process move buffer This can hold one movement instruction for any group of axes When the load into the proces...

Page 321: ...be obtained with the PROC x modifier Example PRINT PROC_LINE PROC 2 PROCNUMBER Type Process Parameter Description Returns the process on which a Trio BASIC program is running This is normally required...

Page 322: ...ccurred on the specified proc ess Example RUN_ERROR PROC 5 9 0000 TICKS Type Process Parameter Description The current count of the process clock ticks is stored in this parameter The process paramete...

Page 323: ...18 9 and then adds the two expressions Therefore result holds the value 28 9 Subtract Type Arithmetic operation Syntax expression1 expression2 Description Subtracts expression2 from expression1 Parame...

Page 324: ...ltiplies this by 10 Therefore factor holds the value 111 Divide Type Arithmetic operation Syntax expression1 expression2 Description Divides expression1 by expression2 Parameters Example a 10 2 1 9 Tr...

Page 325: ...is ON then program execution will continue at line starting label Not Equal Type Arithmetic Comparison Operation Syntax expression1 expression2 Description Returns TRUE if expression1 is not equal to...

Page 326: ...1 0 1 is greater than 0 and therefore VR 0 holds the value 1 Greater Than or Equal Type Arithmetic Comparison Operation Syntax expression1 expression2 Description Returns TRUE if expression1 is great...

Page 327: ...ned from analog input 1 is less than 10 then execute subroutine rollup Less Than or Equal Type Arithmetic Comparison Operation Syntax expression1 expression2 Description Returns TRUE if expression1 is...

Page 328: ...ACOS expression Description The ACOS function returns the arc cosine of a number which should be in the range 1 to 1 The result in radians is in the range 0 PI Parameters Example PRINT ACOS 1 3 1416...

Page 329: ...erator and so the binary action taking place is 01010 AND 10010 00010 Therefore VR 0 holds the value 2 Example 3 IF MPOS AXIS 0 0 AND MPOS AXIS 1 0 THEN GOTO cyc1 ASIN Type Mathematical Function Synta...

Page 330: ...number The result in radians is in the range PI 2 PI 2 Parameters Example PRINT ATAN 1 0 7854 ATAN2 Type Mathematical Function Syntax ATAN2 expression1 expression 2 Description The ATAN2 function retu...

Page 331: ...ntaining the CONSTANT definition and all other programs in the Motion Coordinator project MC206 and MC224 only Parameters Example CONSTANT nak 15 CONSTANT start_button 5 IF IN start_button ON THEN OP...

Page 332: ...l work for any value Input values are in radians Parameters Example PRINT COS 0 3 1 000 EXP Type Mathematical Function Syntax EXP expression Description Returns the exponential value of the expression...

Page 333: ...the name is used in other programs For fast startup the program should also be the ONLY process running at power up In programs that use the defined GLOBAL name has the same meaning as VR vr_number D...

Page 334: ...ract each byte in turn MC206 and MC224 only Parameters Example byte0 IEEE_OUT MPOS AXIS 2 0 byte1 IEEE_OUT MPOS AXIS 2 1 byte2 IEEE_OUT MPOS AXIS 2 2 byte3 IEEE_OUT MPOS AXIS 2 3 Note Byte 0 is the hi...

Page 335: ...pression Parameter Any valid Trio BASIC expression MOD Type Mathematical Function Syntax MOD expression Description Returns the integer modulus of an expression Example PRINT 122 MOD 13 5 0000 NOT Typ...

Page 336: ...le 1 IF KEY OR IN 0 ON THEN GOTO label Example 2 result 10 OR 2 1 9 Trio BASIC evaluates the parentheses first giving the value 18 9 but as was speci fied earlier only the integer part of the number i...

Page 337: ...ters See also SET_BIT CLEAR_BIT SET_BIT Type Command Syntax SET_BIT bit vr Description SET_BIT can be used to set the value of a single bit within a VR variable All other bits are unchanged Parameters...

Page 338: ...cription Returns the SINE of an expression This is valid for any value in expressed in radians Parameters Example PRINT SIN 0 0 0000 SQR Type Mathematical Function Syntax SQR number Description Return...

Page 339: ...Trio BASIC expressions It may therefore be used as either a bitwise or log ical condition The XOR function between two bits is defined as follows Parameters Example a 10 XOR 2 1 9 Trio BASIC evaluates...

Page 340: ...he numerical value of 0 Example test res IN 0 OR IN 2 IF res FALSE THEN PRINT Inputs are off ENDIF OFF Type Constant Description OFF returns the value 0 Example IF IN 56 OFF THEN GOTO label Branch if...

Page 341: ...Type Constant Description The constant TRUE takes the numerical value of 1 Example t IN 0 ON AND IN 2 ON IF t TRUE THEN PRINT Inputs are on ENDIF PI Type Constant Description PI is the circumference...

Page 342: ...none the parame ter returns 1 ATYPE Type Axis Parameter Description The ATYPE axis parameter indicates the type of axis fitted On daughter board based axes the ATYPE axis parameter is set by the syste...

Page 343: ...XISSTATUS axis parameter may be used to check various status bits held for each axis fitted The AXISSTATUS axis parameter is set by the system software is read only Example IF AXISSTATUS AND 16 0 THEN...

Page 344: ...t output is a dedicated open collector output on the stepper and stepper encoder daughter boards The open collector can be switched on or off for each axis using this command Example BOOST AXIS 11 ON...

Page 345: ...er versions Example CLUTCH_RATE 5 CREEP Type Axis Parameter Description Sets the creep speed on the current base axis The creep speed is used for the slow part of a DATUM sequence The creep speed must...

Page 346: ...048 corresponds to a voltage of 10V to DAC 2047 corresponds to a voltage of 10v The range of values that a 16 bit DAC MC206 built in axes only can take is DAC 32767 corresponds to a voltage of 10V to...

Page 347: ...returned will be in the range 2048 to 2047 Example PRINT DAC_OUT AXIS 8 288 0000 DAC_SCALE Type Axis Parameter Description The DAC_SCALE axis parameter is only available on the MC206 The parameter ha...

Page 348: ...nput if required Example DATUM_IN AXIS 0 28 Note Feedhold forward reverse datum and jog inputs are ACTIVE LOW DECEL Type Axis Parameter Syntax DECEL value Description The DECEL axis parameter may be u...

Page 349: ...ess on the axis Example DPOS AXIS 10 This will return the demand position in user units DRIVE_STATUS Type Axis Parameter Description Returns the status register of a drive with digital communications...

Page 350: ...value automatically allowing for overflows and off sets On MC202 and the built in axes of a Euro205 or MC206 the ENCODER register is a 14 bit register ENDMOVE Type Axis Parameter Description This par...

Page 351: ...s the fast jog input The input can be in the range 0 31 If FAST_JOG is set to 1 default then no input is used for the fast jog If the FAST_JOG is asserted then the jog inputs use the axis SPEED for th...

Page 352: ...ions such as mechanical lock up loss of encoder feedback etc It is returned in USER UNITS The default value is 2000 encoder edges FERANGE Type Axis Parameter Syntax FERANGE value Description Following...

Page 353: ...as its speed overridden to the Feedhold speed FHSPEED WITHOUT CANCELLING THE MOVE IN PROGRESS This speed is usually zero When the input is reset any move in progress when the input was set will go bac...

Page 354: ...han the FS_LIMIT FWD_IN Type Axis Parameter Description This parameter holds the input number to be used as a forward limit input The input can be in the range 0 31 If FWD_IN is set to 1 default then...

Page 355: ...se position by one step when changing direction I_GAIN Type Axis Parameter Description The integral gain is a constant which is multiplied by the sum of following errors of all the previous samples Th...

Page 356: ...ccurred This is set to FALSE by the REGIST command and set to true when the registration event occurs When TRUE the REG_POS is valid Example loop WAIT UNTIL IN punch_clr ON MOVE index_length REGIST 3...

Page 357: ...loaded 2 Axis group does not change on multi axis moves 3 Velocity profiled moves MOVE MOVEABS MOVECIRC MHELICAL REVERSE FORWARD cannot be merged with linked moves CONNECT MOVELINK CAMBOX Note When m...

Page 358: ...times the number Example UNITS AXIS 2 180 2 180 pulses rev 2 MICROSTEP AXIS 2 ON MPOS Type Axis Parameter Read Only Description This parameter is the position of the axis as measured by the encoder o...

Page 359: ...an that the axis is actually moving It may be at zero speed part way along a move or interpolating with another axis without moving itself NTYPE Type Axis Parameter Read Only Description This paramete...

Page 360: ...the REGIST function we can cap ture the position at which the leading edge of the box is seen then by using OFFPOS we can adjust the measured position of the axis to be zero at that point There fore...

Page 361: ...06 internal axes have 16 bit DAC s Example OUTLIMIT AXIS 0 1023 The above will limit the voltage output to a 5V output range on a servo daughter board axis This will apply to the DAC command if SERVO...

Page 362: ...STEP ON mode so will internally process 40000 counts rev A 2500 pulse encoder is to be connected This will generate 10000 edge counts rev A multiplica tion factor of 4 is therefore is required to conv...

Page 363: ...tion Indicates to a programmer the quality of the fit of a RECORD MATCH sequence A value of 1 is returned if the fit is 100 Note See the MATCH command for an example of a complete recognition sequence...

Page 364: ...t 5 1 ELSE offset 0 PRINT Mark not seen ENDIF Reset registration prior to each move DEFPOS 0 REGIST 3 768 Allow mark at first 10mm last 10mm of sheet CAM 0 50 length offset 0 5 cf 1000 WAIT UNTIL TICK...

Page 365: ...turns the number of errors on a drive s digital communication link Example PRINT REMOTE_ERROR 1 0000 REPDIST Type Axis Parameter Description The repeat distance contains the allowable range of movemen...

Page 366: ...Type Axis Parameter Description This parameter holds the input number to be used as a reverse limit input The input should be in the range 0 31 If REV_IN is set to 1 default then no input is used as...

Page 367: ...the DAC parameter When SERVO ON the axis hardware will output a voltage dependent on the gain settings and the following error SERVO is also used on stepper axes with position verification If SERVO ON...

Page 368: ...Using S ramps increases the time required for the movement to complete SRAMP can be used with MOVE MOVEABS MOVECIRC MHELICAL FORWARD REVERSE and MOVE MODIFY move types Note The SRAMP factor should no...

Page 369: ...motions on the axes Frame transformations have to be specially written in the C language and downloaded into the controller It is essential to contact Trio if you want to install frame transformations...

Page 370: ...arameter Description The verify axis parameter is used to select different modes of operation on a step per encoder axis VERIFY OFF Encoder count circuit is connected to the STEP and DIRECTION hardwar...

Page 371: ...put proportionally with the speed For a velocity feed forward term Kvff and change in position Pd the contribution to the output signal is Ovff Kvff x Pd Note Servo gains have no effect on stepper mot...

Page 372: ...8 182Trio BASIC Commands Axis Parameters Trio Motion Technology...

Page 373: ...C H A P T E R CHAPTER 0PROGRAMMING EXAMPLES...

Page 374: ......

Page 375: ...ignored Demonstrate integer number entry via Membrane Keypad getnum pos 70 num 0 PRINT 4 CHR 20 REPEAT PRINT 4 CURSOR pos num 6 0 GET 4 k IF k 69 THEN GOTO getnum IF k 59 AND k 61 THEN k k 7 IF k 66 A...

Page 376: ...TM machines etc There is one servo axis which is connected to the draw rollers which feed the card into the machine A printed registration mark appears once per card and is sensed by an optical sensor...

Page 377: ...rd and then move a fixed pitch every cycle loop MOVE card_pitch WAIT IDLE OP punch ON WAIT UNTIL IN punch_clear OFF WAIT UNTIL IN punch_clear ON OP punch OFF GOTO loop In the real world we must allow...

Page 378: ...MARK OR MTYPE 0 IF MTYPE 0 THEN Indicate error to user PRINT 3 Registration Error errors errors 1 if errors max_errors then GOTO reg_failed OP error_lamp ON ELSE OP error_lamp OFF MOVEMODIFY reg_pos...

Page 379: ...ould be flexible enough to allow for a user defined number of boxes on the pal lette The grid could contain up to 10 divisions in each direction and they may be combined in any ratio i e 2x4 6x3 1x10...

Page 380: ...rstly we create a loop to step through each row Y in turn FOR y 0 to ydiv 1 NEXT y ydiv is the number of rows and the 1 is because we start counting at 0 rather than 1 Now within this loop we create a...

Page 381: ...e palette size 1200 and the number of divisions in each direction xdiv ydiv then we can simply calculate an appropriate scaling thus for the x axis xscale 1200 xdiv The actual position of the box s co...

Page 382: ...t xscale 1200 xdiv xmid xscale 2 yscale 1200 ydiv ymid yscale 2 FOR y 0 TO xdiv 1 FOR y 0 TO ydiv 1 GOSUB pick MOVEABS x xscale xmid y yscale ymid WAIT IDLE GOSUB place NEXT x NEXT y GOTO start pick M...

Page 383: ...g and setting the repeat distance REPDIST for the print head rotation so that it has an absolute position of zero every time it touches the conveyor 3 Superimposing a movement onto the print head This...

Page 384: ...75 r_adj 150 25 25 1 75 is the diff between the mark spacing and the print head circumference Move linked to conveyor WAIT IDLE BASE 0 REGIST 3 GOTO loop initial BASE 0 Setup axis 0 UNITS 20 Edges mm...

Page 385: ...tasks communicate via two global variables Operator Interface Program Motion Coordinator Demonstration Program start GOSUB initial loop PRINT 3 CHR 20 CHR 14 PRINT 3 CURSOR 0 LENGTH in_length 0 IF VR...

Page 386: ...k k 17 IF k 71 THEN k 48 IF k 47 AND k 58 THEN k k 48 num num 10 k ENDIF UNTIL k 73 RETURN initial PRINT 3 CHR 20 CHR 14 PRINT 3 CURSOR 0 PRINT 3 Demonstration of PRINT 3 Motion Coordinator WA 3000 S...

Page 387: ...ples 9 15 Example Programs loop WAIT UNTIL VR start ON MOVE VR length MOVEABS 0 GOTO loop initial WDOG ON WA 100 BASE 0 P_GAIN 0 8 FE_LIMIT 1000 SERVO ON ACCEL 1000000 DECEL 100000 SPEED 10000 RETURN...

Page 388: ...re to recognise it and to set up the type of errors which will cause the controller to disable the drive output The relevant parameters are AXISSTATUS ERRORMASK MOTION_ERROR ERROR_AXIS start Monitor c...

Page 389: ...C H A P T E R CHAPTER0SUPPORT SOFTWARE...

Page 390: ......

Page 391: ...ation for the PC designed to be used in conjunction with the Motion Coordinator range of multi tasking motion controllers Motion Perfect provides the user with an easy to use Windows based interface f...

Page 392: ...ion Perfect Updates are available from your local distributor or you can download the latest version from the Trio Web site WWW TRIOMOTION COM Minimum Specification Recommended CPU Pentium class proce...

Page 393: ...Designed for 32 Bit Windows Windows 95 98 ME and Windows 2000 Full Support for Latest Trio Products Supports controller locking for project security Supports Feature Enable Codes for the Euro 205 and...

Page 394: ...u wish to edit a project but do not have a controller connected to your PC it is possible to edit off line by connecting to a virtual controller running on your PC See the information on the MCSimulat...

Page 395: ...ly duplicated on the PC which means you do not have to worry about loading or saving programs and you can be confident that next time you connect to the controller you will have the correct informatio...

Page 396: ...xisting project programs on the PC Load Load the PC files onto the controller If you are uploading a complete project from the PC to the controller or the project check fails and you are sure the vers...

Page 397: ...ntroller contents will be erased and a new project created on the PC You will be prompted to select a directory and project name When you create a new project Motion Perfect will make a new direc tory...

Page 398: ...the controller and PC ver sion or do not exist in one of the copies You will need to use your judgment to decide whether the disk or con troller version is correct Typically if you are recovering the...

Page 399: ...r Shortcut buttons to access the Motion Perfect tools Control Panel Displays the current controller contents and provides controls for interrogating the controller status running editing programs Desk...

Page 400: ...ecting and checking configuration information Program Program specific options including creating editing and run ning controller tasks Tools Access to the main Motion Perfect tools These options are...

Page 401: ...able if Motion Perfect is currently disconnected from the controller Disconnect Disconnect the serial communications and stop using the project tools Only available if Motion Perfect 2 is currently co...

Page 402: ...ordinator MC202 Software Version The controller is running version 1 51 of the system software Axis Types A list of the types of all available axes Comms Boards If the controller is fitted with any of...

Page 403: ...t boxes will be available for checking Enabling Additional Features To enable a feature you must enter a Feature Enable Code which is unique to each controller and feature To obtain a Feature Enable C...

Page 404: ...Perfect stores all of the Feature Enable Codes of which it is aware in a file called FeatureCodes TFC By default this file is located in the same directory as the Motion Perfect 2 executable file Enab...

Page 405: ...by your distributor or by Trio When you select the Load System Software option from the controller menu you will first be presented with a warning dialog to ensure you have saved your project and are...

Page 406: ...tes depending on the speed of your PC Dur ing the download you should see the progress of each section updated as fol lows When the download is complete a checksum is performed to ensure that the down...

Page 407: ...of the flashstick and display it As the directory is automatically read when the tool window is created this button only needs to be used when the flashstick is changed The Save button will save the p...

Page 408: ...e LOCK lock_code command from the con troller s command line Once the Motion Coordinator is locked it is not possible to list edit or save any of the controller programs You cannot connect to the cont...

Page 409: ...otion Coordinator Technical Reference Manual Support Software 10 21 Motion Perfect Tools Motion Perfect Tools The Motion Perfect tools can be accessed from either the Tools Menu or the Tool bar button...

Page 410: ...ou will be prompted to select from any of the active user communica tions channels For this example we will select channel 0 which is used for the Motion Coordinator Command Line interface Using the t...

Page 411: ...dif ferent banks for example to allow the user to shrink the window and view other windows whilst still watching the bank 2 information When there are more parameters in a bank that can be shown in t...

Page 412: ...will be displayed by default Refresh Display In order to minimise the load placed upon the controller communications the parameters in the bank 1 section are only read when the screen is first display...

Page 413: ...nical Reference Manual Support Software 10 25 Motion Perfect Tools Note If there is any possibility that a program has changed any of the parameters then you should ensure that your refresh the displa...

Page 414: ...on to the oscilloscope to be displayed If a larger time base value is used the data is retrieved in sections and the trace is seen to be plotted in sec tions across the display Exactly when the contro...

Page 415: ...the points held in the controller table directly by selecting the TABLE parameter followed by the number of a channel whose first last points have been configured using the advanced options dialog If...

Page 416: ...eared by pressing this vertical offset reset button The button latches on off When the button is latched ON then the vertical offset will automatically rescale each time the oscilloscope dis play is r...

Page 417: ...nd the last point plotted is seen as a white spot After the oscilloscope has finished running and a trace has been displayed the time base scale may be changed to view the trace with respect to differ...

Page 418: ...gger in the program mode and two program listings can be seen on the button When raised the oscilloscope is set to the manual trigger mode and a pointing hand can be seen on the button Button Raised M...

Page 419: ...when it is running and the trigger button is displaying the Halt text by pressing this button Reset Oscilloscope Configuration The current scope configuration the state of all the con trols is saved...

Page 420: ...mouse button over the various controls to reveal further information Samples per division The oscilloscope defaults to recording five points per horizontal time base grid division This value can be a...

Page 421: ...e which causes the upper table value to exceed the maximum permitted value on the controller then the original value is used by the oscilloscope Table Data Graph It is possible to plot controller tabl...

Page 422: ...ite spot If the oscilloscope is configured to record both motion parameters and also to plot table data then the table data is read back in one complete block and then the motion parameters are read e...

Page 423: ...ged from 3 or 4 to the channel that corresponds with the channel selected for the emulation We recommend that the channel assignment be made through a variable so when time comes to run the program on...

Page 424: ...lly used to perform some form of CANCEL operation It can be pressed by clicking the mouse over it or using the ESC in the QWERTY area of the PC keyboard Return key This is the keypad Return key This i...

Page 425: ...will be immediate and can be made whilst programs are running Options Range In both tools you have the option to set the start and end of the range to view In the Table view tool the max value display...

Page 426: ...ns that when the input is on 24V applied then the corresponding jog function is DISABLED and when the input is off 0V then the jog function is ENABLED The jog functions implemented here disable the fa...

Page 427: ...the CREEP is set to the value given in the jog speed control and finally the JOG_REV output is turned off thus enabling the reverse jog function Jog Forward This button will initiate a forward jog In...

Page 428: ...ted with the forward reverse jog functions They must be in the range 8 to the total number of inputs in the system as the input channels 0 to 7 are not bi directional and so the state of the input can...

Page 429: ...Manual Support Software 10 41 Motion Perfect Tools Axes This displays an axis selector box which enables the user to select the axis to include in the jog axes display By default the physical axes fit...

Page 430: ...shows the status of the dedicated input channels If an LED is green then the corresponding input is ON If an LED is white then the cor responding input is OFF Input Output Banks These banks of LEDs s...

Page 431: ...mouse the status corresponding output channel is toggled i e if the LED is white then the output will be turned on if the LED is yellow then the output channel will be turned off Checking the Show Des...

Page 432: ...Technology Analogue Input Viewer The analogue input viewer is only available if the system has analogue inputs It dis plays the input values of all analogue inputs in the system using a bar graph with...

Page 433: ...two other Trio applications CAD2Motion and DocMaker Further information on these applications is given at the end of this chapter Note Cad2Motion and DocMaker are available to download from the Trio...

Page 434: ...u can use to locate the file on your computer Once you have selected the file it will automatically appear in the External menu every time you run Motion Perfect 2 Removing program items from the menu...

Page 435: ...hand side of the main Motion Perfect window It provides direct links to many of the frequently used operations within Motion Perfect in particu lar the file and directory functions Please Note Certai...

Page 436: ...adio button Drives Enabled Drives Disabled This radio button toggles the state of the enable watchdog relay on the control ler going between drives disabled watchdog off and drives enabled watchdog on...

Page 437: ...blank then it has not been compiled If a program name is clicked then it will become the selected program if there are no programs running If there are programs running the select will be ignored If...

Page 438: ...d in a program or the termi nal window then the red green run button will turn yellow If the button is clicked when it is yellow then the program will be stepped one line General Options Show Controll...

Page 439: ...te MOTION STOP is a software function It is not a substitute for a hardware E_Stop circuit and should not be used as an emergency stop Control Panel Variations for Motion Coordinators without battery...

Page 440: ...t this time You will be presented with a program selector dialog and prompted to enter a name for your program file It is a good idea to make this name representative of the task performed by the prog...

Page 441: ...ontrolled by the Editor Options dialog This can be opened by selecting Options Editor from Motion Perfect s main menu The dia log allows to user to change the fonts used for screen display and printin...

Page 442: ...o the place where the label is defined Format The format options affect text entry and the automatic reformatting preformed by Motion Perfect For automatic reformatting the code start column and the t...

Page 443: ...Motion Coordinator Technical Reference Manual Support Software 10 55 Creating and Running a program...

Page 444: ...e Button will be available and will force Motion Perfect to save the file immediately Printing Use Page Setup to set the page mrrgins Print Setup to configure you printer set tings and the Print optio...

Page 445: ...text to replace it with in the Replace With box Normally the Case Sensitive search option is not selected You should only use this option if you have an exact pattern to match generally the default op...

Page 446: ...the window It is also possible to set breakpoints in the program and run it at normal speed until it reaches the breakpoint where it will stop and this line of code will be highlighted in the debug wi...

Page 447: ...box on the control panel or press the Step button or the F8 functional key if the program required is currently selected on the Motion Coordinator Breakpoints Breakpoints are special place markers in...

Page 448: ...then press the green button alongside the program name running on the required process in the list box on the control panel press the stop button on the control panel if the program is currently selec...

Page 449: ...on to the left of the program name in the list will start it running the button will change to green and it will then function as a stop button for the same task From the editor toolbar If you have an...

Page 450: ...lly when the system first starts up From the Program Menu select Set Powerup Mode to open the following dialog Click on the program you want to auto run and a small drop down list will appear to the r...

Page 451: ...riod or there is any corrup tion of the RAM it will be refreshed with a correct copy of the programs When the controller is set to fixed you will not be able to edit any programs In order to make chan...

Page 452: ...ions menu provides a number of choices Communications Set up the default communications device for Motion Perfect 2 to use Motion Perfect 2 needs a single serial connection to the controller in order...

Page 453: ...u require and click on the OK button to install the new port Changing Comms Port Parameters The default settings for serial com munications is 9600 baud 7 data bits 2 stop bits even parity If you wish...

Page 454: ...communications Packet communications can be used over any type of communications link but as some of these USB ethernet use packetised communications as part of their own protocol adding an extra leve...

Page 455: ...ialog allows the user to change a number of options relating to how Motion Perfect 2 starts up and handles projects When you select General Options you will be presented with the following screen The...

Page 456: ...y save the controller memory to EPROM before disconnecting from the controller Saving the Desktop Layout When you have a number of windows open you can save the layout so that it can be quickly restor...

Page 457: ...ecial application to simulate the controller operation and to allow Motion Perfect 2 to operate in many ways as if a real controller were connected MC Simulation MC Simulation MCSim is a very simple p...

Page 458: ...t 2 Without a Controller Trio Motion Technology Use the Add Port option to select a new port and choose Simulation as the Port Type The new device will normally appear at the end of the list Use the m...

Page 459: ...environment There are some unsupported TrioBASIC commands mainly those related to communications busses such as CAN The motion engine built into the simulation is still under development although it w...

Page 460: ...ead into CAD2Motion to create a program to follow the motion path The motion path can be manipulated and edited before being saved as a Trio BASIC program file which can be loaded on to a Motion Coord...

Page 461: ...variables labels I O and VR s and on overall I O and VR usage There is also a checking routine which does a quick check on the whole project and flags up possible errors DocMaker Benefits Automatic A...

Page 462: ...omers equipment easily It can also be used from a hard disk or CD ROM Script File The commands to be executed are held in a script file AutoLoader tas which must be in the LoaderFiles directory Projec...

Page 463: ...any directory Project is the Motion Perfect 2 project directory for the project to be loaded using the LOADPROJECT command Project prj being the project file and Proj bas are the program files in the...

Page 464: ...running the script Main Window The program main window consists of two message windows one to display the current command and the other to display the name of the program or file cur rently being loa...

Page 465: ...An OK result allows script execution to continue a Fail result will make script execution terminate at that point COMMLINK Purpose To set the communications port and parameters Syntax COMMLINK PortSpe...

Page 466: ...ma separated list of one or more valid controller ID numbers i e 206 216 Examples CHECKTYPE 206 CHECKTYPE 202 216 206 Controller ID Numbers Each type of controller returns a different ID number in res...

Page 467: ...VERSION Purpose To check the version of the controller system code Syntax CHECKVERSION Operator Version CHECKVERSION LowVersion HighVersion Examples CHECVERSION 1 49 CHECKVERSION 1 51 CHECKVERSION 1 4...

Page 468: ...m disk onto the controller Syntax LOADPROGRAM ProgramFile Where ProgramFile is the path of the program file If the program file is in the LoaderFiles directory then it is just the name of the of the p...

Page 469: ...d in its EPROM It actually copies the programs from EPROM into RAM at startup Syntax SETRUNFROMEPROM State Where State is 1 for copy from EPROM and 0 is use programs currently in RAM A single characte...

Page 470: ...ample Script Test Script Startup Message This autoloader was set up by TRIO to load a test project onto a controller of fixed type COMMLINK COM1 9600 7 e 2 CHECKTYPE 206 CHECKVERSION 1 45 CHECKUNLOCKE...

Page 471: ...load a project then copy the project directory of the project to be loaded into the LoaderFiles directory created above so that it is a sub directory of LoaderFiles If you are going to load any tables...

Page 472: ...10 84Support Software Project Autoloader Trio Motion Technology...

Page 473: ...C H A P T E R CHAPTER0FIBRE OPTIC NETWORK...

Page 474: ......

Page 475: ...inator is carried out with the GET command ii Direct variable transfer a specified variable on a given Motion Coordinator node can be modified by another Motion Coordinator node independent of the pro...

Page 476: ...is not critical but the performance of the network can be affected by rearranging the order of the nodes This is espe cially true if there are a large number of nodes in the network and a large amount...

Page 477: ...back to the sender Likewise if address 14 was used the message would completely traverse the ring once and finish up at node 10 If address 18 was used then the message would go twice round the ring an...

Page 478: ...characters received are held in a 256 character buffer Parameters KEY n Type Function Syntax IF KEY n THEN GET n VR x Description Returns TRUE or FALSE depending on whether a character has been recei...

Page 479: ...e format of strings to be output Parameters SEND Type Command Syntax SEND n type data1 data2 Description Outputs a network message of a specified type to a given node Parameters n Number from 10 to 24...

Page 480: ...played at either end of the machine The network should be connected as shown below Network Example 1 The program could look something like this length 2 Set offset on first keypad to 2 i e send key pr...

Page 481: ...ould also be achieved with an MC206 or an MC216 Axis expander but in this example because each block can be built as a stand alone unit each requires it s own Motion Coordinator In this example our sy...

Page 482: ...GOSUB initax Initialisation routine WAIT UNTIL VR 200 99 Two axis node signals ready by setting variable 200 PRINT 11 CHR 12 CHR 14 MACHINE READY Get required parameters setlen PRINT 11 FEED LENGTH VR...

Page 483: ...olling the membrane keypad must not transmit anything to or via the keypad until the keypad has been set into network mode by issuing the SEND command to give its keypad offset This example uses a sim...

Page 484: ...checking must be done by the user because the nodes have no knowledge of the size of the net Each successive node decrements the address by 1 and if the result is greater than zero it re transmits th...

Page 485: ...specified is modified directly without needing to be processed by the user program Message length is 2 bytes 14 bits for the variable number and 10 bytes 32 bit integer 32 bit fraction for the variab...

Page 486: ...11 14Fibre Optic Network Network Specification Trio Motion Technology...

Page 487: ...C H A P T E R CHAPTER0USING THE TRIO ACTIVEX CONTROL...

Page 488: ......

Page 489: ...gram Install_TrioPCMotion and follow the on screen instruc tions The TrioUSB driver and TrioPC ocx will be installed and registered to your Windows environment The Trio PCI driver will also be install...

Page 490: ...he user application requires the TrioBASIC methods then the synchronous mode should be selected However if the prime role of the user application is to respond to events triggered on the Motion Coordi...

Page 491: ...er TrioPC1 Close 0 frmMain Refresh End Sub IsOpen Description Returns the state of the connection between the TrioPC ActiveX control and the Motion Coordinator Syntax IsOpen PortMode Parameters Return...

Page 492: ...rget Motion Coordinator TrioPC1 SetHost 192 168 000 001 Rem Open a Synchronous connection TrioPC_Status TrioPC1 Open 2 0 frmMain Refresh GetConnectionType Description Gets the connection type of the c...

Page 493: ...Board 0 Then TrioPC Board 0 End If TrioPC_Status TrioPC1 Open 3 0 frmMain Refresh HostAddress Description Used for reading or changing the ethernet host IP address and must be set prior to opening an...

Page 494: ...ernet daughterboard The following val ues should be used 0 for ethernet daughterboard firmware version 1 0 4 0 or earlier 1 for ethernet daughterboard firmware version 1 0 4 1 or later Type Long Acces...

Page 495: ...xes Order Parameters Return Value TrioPC STATUS short Axes Number of axes involved in the move command VARIANT Distance Distance to be moved can be a single numeric value or an array of numeric values...

Page 496: ...e numeric value or an array of numeric values that contain at least Axes values VARIANT Axis Optional parameters that must be a single numeric value that specifies the base axis for this move double E...

Page 497: ...base axis for this move short TableStart The position in the table data on the Motion Coordinator where the cam pattern starts short TableStop The position in the table data on the Motion Coordinator...

Page 498: ...The position in the table data on the Motion Coordinator where the cam pattern stops double Multiplier The scaling factor to be applied to the cam pattern double LinkDistance Used to calculate the du...

Page 499: ...red position is set as demand position this is especially useful on stepper axes with position verification DATUM 0 will also reset a following error condition in the AXISSTATUS register for all axes...

Page 500: ...eset to zero and the Meas ured position corrected so as to maintain the following error 5 The axis moves at programmed speed forward until the datum switch is reached The axis then moves at creep spee...

Page 501: ...ouble FinishNext Distance to the finish position on the axis that follows the base axis double CentreBase Distance to the centre position on the base axis double CentreNext Distance to the centre posi...

Page 502: ...kOptions Specifies special processing for this move 0 no special processing 1 link commences exactly when registration event occurs on link axis 2 link commences at an absolute position on link axis s...

Page 503: ...r Technical Reference Manual Using the Trio ActiveX Control 12 17 Motion Commands RapidStop Description Performs the corresponding RAPIDSTOP command on the Motion Coordinator Parameters None Return Va...

Page 504: ...P command on the Motion Coordinator Syntax Stop Program Process Parameters Return Value TrioPC STATUS BSTR Program String that specifies the name of the program to be run VARIANT Process Optional para...

Page 505: ...cified system variable To specify different base axes the BASE command must be used Syntax GetVariable Variable Value Parameters Return Value TrioPC STATUS Long StartPosition Table location for first...

Page 506: ...he specified system variable To specify different base axes the BASE command must be used Syntax SetVariable Variable Value Parameters Return Value TrioPC STATUS short Variable Number of the VR variab...

Page 507: ...Motion Technology SetVr Description Sets the value of the specified Global variable Syntax SetVr Variable Value Parameters Return Value TrioPC STATUS BSTR Variable Number of the VR variable to write d...

Page 508: ...Get Channel Value Parameters Return Value TrioPC STATUS In Description Performs the corresponding IN command on the Motion Coordinator Syntax In StartChannel StopChannel Value Parameters short Channe...

Page 509: ...ator Syntax Key Channel Value Parameters Return Value TrioPC STATUS Linput Description Performs the corresponding LINPUT command on the Motion Coordinator Syntax Linput Channel Startvr Parameters Retu...

Page 510: ...tor Syntax Op Output State Parameters Return Value TrioPC STATUS VARIANT Output Numeric value If this is the only value specified then it is the bit map of the outputs to be specified oth erwise it is...

Page 511: ...to disable VARIANT Axis Optional numeric value that specifies the base axis for this command VARIANT OutputNumber Optional numeric value that specifies the number of the output to set VARIANT OutputSt...

Page 512: ...Mode Dist Parameters Return Value TrioPC STATUS short Transitions Number of transitions to record long TablePosition Start position in the table to store the transitions short Mode Registration mode 1...

Page 513: ...pe of message to be sent 1 Direct variable transfer 2 Keypad offset short Data1 Data to be sent If this is a keypad offset message then it is the offset otherwise it is the number of the vari able on...

Page 514: ...d and completed successfully GetData Description This method is used when an asynchronous connection has been opened to read data received from the Motion Coordinator over a particular channel The cal...

Page 515: ...ened in the asynchronous mode to write data to the Motion Coordinator over a particular channel Syntax SendData channel data Parameters Return Value TrioPC STATUS TRUE if the given channel is valid th...

Page 516: ...eiveChannelx event fires or oth erwise to call the method periodically to prevent a buffer overrun Which event is fired will depend upon which channel buffer overran Syntax OnBufferOverrunChannelx Par...

Page 517: ...methods implemented by the TrioPC interface return a boolean sta tus value The value will be TRUE if the command was sent successfully to the Motion Coordinator and the command on the Motion Coordinat...

Page 518: ...12 32Using the Trio ActiveX Control Events Trio Motion Technology...

Page 519: ...C H A P T E R CHAPTER0COMMUNICATIONS PROTOCOLS...

Page 520: ......

Page 521: ...Motion Coordinator and a programmable keypad display Implementation of the protocol is provided on serial port 1 for RS232 and port 2 for RS485 Port 0 is the main programming port and does not have t...

Page 522: ...et up shown above the display should poll the Motion Coordinator for the value of VR 12 and display the data as a 4 digit number Modbus Technical Reference This section lists the Motion Coordinator s...

Page 523: ...a Bytes containing Number of Points bits of data Modbus Function Code 3 Mapped Trio Function Read VR Global Variable Starting Address Range 0 to 250 Number of Points Range 1 to 127 Number of VR variab...

Page 524: ...pings Holding Registers 40001 are mapped to VR 0 Inputs 10001 to 10272 are mapped to IN 0 to IN 271 when the appropriate I O expansion is fitted Output Coils 9 to 272 are mapped to OP 8 s to OP 271 s...

Page 525: ...Human Machine Interface MODBUS A communications protocol developed by Modicon part of Groupe Schneider RTU One of two serial transmission modes used by Modbus the other being ASCII Holding Register A...

Page 526: ...Trio BASIC program The program must be loaded into the Motion Coordinator and set to run from power up Set the node variable in the program to the required Profibus Address for the Motion Coordinator...

Page 527: ...al Communications Protocols 13 9 Profibus 1 Launch the window shown below and click on Others 2 Add the Box Icon to the network on the left and the Slave Parameters dialogue will open Choose Motion Co...

Page 528: ...will appear on the diagram like this Now add any other nodes to the network that are required and close the window Finally export the file in the required format usually Binary for use by the PLC or...

Page 529: ...on a cylcic basis as determined by master unit Variables VR vbase to VR vbase 15 Data TO master 16bit int VR vbase 16 to VR vbase 31 Data FROM master 16bit int VR vbase 32 PLC status 0 running 2 PLC...

Page 530: ...rofibus Variable 1 Variable 15 Variable 16 reserved 15 Variable Block INPUT VR 20 VR 34 VR 35 15 Variable Block READ Variable 17 Variable 31 Variable 32 reserved 15 Variable Block INPUT VR 36 VR 50 VR...

Page 531: ...NIO master and generating non DeviceNet CANbus messages on power up set the CANIO_ADDRESS to 33 This parameter is written directly into Flash EPROM adn so it is only necessary to set CANIO_ADDRESS onc...

Page 532: ...ction will handle the I O poll messaging The maximum message length for this connection is 32 bytes DeviceNet Objects Implemented The Motion Coordinator supports the following DeviceNet object classes...

Page 533: ...Type Data Value 1 Get Vendor UINT 0x0115 277 2 Get Product Type UINT Generic Device 0x0000 3 Get Product Code UINT The MC type as returned by the CONTROL system variable 4 Get Revision Major Revision...

Page 534: ...nnection Set Requests the use of the Predefined Master Slave Connection set 0x4C Release Group 2 Identifier Set Indicates that the specified Connections within the Predefined Master Slave Connection S...

Page 535: ...in the Predefined master slave con nection set of the ODVA DeviceNet specification Id Service Description 0x0E Get Attribute Single Used to read the instance attributes 0x10 Set Attribute Single Used...

Page 536: ...oduced Connection ID UINT 10xxxxxx011 binary xxxxxx node address 5 Get Consumed Connection ID UINT 10xxxxxx100 binary xxxxxx node address 6 Get Initial Comm Characteristics USINT 21 hex 7 Get Produced...

Page 537: ...01111xxxxxx binary xxxxxx node address 5 Get Consumed Connection ID UINT 10xxxxxx101 binary xxxxxx node address 6 Get Initial Comm Characteristics USINT 0x01 7 Get Produced Connection Size UINT 0x08...

Page 538: ...plement format 0x35 Read IEEE TABLE Reads the specified number of TABLE entries and sends their values in 32 bit IEEE floating point format 0x36 Read IEEE VR Reads the specified number of VR entries a...

Page 539: ...4 byte 1 Class ID 0x8A byte 2 Instance ID 0x01 this is the only instance supported byte 3 bits 15 8 of Source Address byte 4 bits 7 0 of Source Address byte 5 ignored byte 6 Number of word values to b...

Page 540: ...byte 1 Class ID 0x8A byte 2 Instance ID 0x01 this is the only instance supported byte 3 bits 15 8 of Source Address byte 4 bits 7 0 of Source Address byte 5 ignored byte 6 Number of word values to be...

Page 541: ...nly instance supported byte 3 bits 15 8 of Source Address byte 4 bits 7 0 of Source Address byte 5 ignored byte 6 Number of IEEE values to be read bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 byte...

Page 542: ...supported byte 3 bits 15 8 of Source Address byte 4 bits 7 0 of Source Address byte 5 ignored byte 6 Number of IEEE values to be written byte 7 bits 7 0 of Value 0 byte 8 bits 15 8 of Value 0 byte 9 b...

Page 543: ...atus Off No Power Flashing Green Red Module self test Flashing Green Standby Steady Green Operational Flashing Red Minor Fault software recoverable Steady Red Major Fault Network Status Off Not On lin...

Page 544: ...imal digits separated by points For example the Trio Ethernet daughter board has a default IP of 192 168 000 250 Each of the decimal numbers represents a string of eight binary digits Thus the above I...

Page 545: ...address Without subnets an organ ization could get multiple connections to the Internet one for each of its physi cally separate sub networks but this would require an unnecessary use of the limited n...

Page 546: ...nnection use a null modem data cable The IP address of the Host PC can be set to the match the default value of the Trio ethernet card Host PC IP 192 168 000 251 Subnet 255 255 255 000 Trio IP 192 168...

Page 547: ...le the 224 in the subnet indicate the network can have up to 6 sub networks 224 11100000 The 5 remaining bits within the 224 mask will allow up to 30 valid host addresses ranging from 1 to 30 Valid IP...

Page 548: ...g the Trio MC controller This can be done using the ping command at a DOS prompt From the START button in Windows select Accessories and then Command Prompt utility At the DOS prompt type the Trio s a...

Page 549: ...ession and by typing return the characteristic Trio command line prompt should be seen It should be noted that it is possible to use other port numbers with the control ler hence if port number 1025 h...

Page 550: ...ting point data and must be set before Modbus TCP communications are attempted It is not main tained through power cycles so it must be initialized once after each power up It should be noted that flo...

Page 551: ...A P P E N D I X CHAPTER 0REFERENCE...

Page 552: ......

Page 553: ...on Differential Stepper 5 Resolver daughter board 6 Voltage output daughter board 7 Absolute SSI Servo daughter board 8 CAN daughter board 9 Remote CAN axis 10 PSWITCH daughter board 11 Remote DriveLi...

Page 554: ...cations card in axis slot 25 Ethernet Communications card in axis slot Bit Description Value 0 Unused 1 1 Following error warning range 2 2 Communications error to remote drive 4 3 Remote drive error...

Page 555: ...Motion Coordinator MC216 216 Motion Coordinator MC224 224 Chan Device 0 Serial Port 0 RS232 Motion Perfect Command Line 1 Serial Port 1 2 Serial Port 2 3 Fibre optic port value returned defined by DEF...

Page 556: ...t 0 Rx data ready 5 Port 0 Rx overrun 6 Port 0 parity error 7 Port 0 Rx frame error 8 Port 1 Rx data ready MC202 port 1 parity error 9 Port 1 Rx overrun MC202 port 1 Rx frame error 10 Port 1 parity er...

Page 557: ...TYPE Move Type 0 Idle No move 1 MOVE 2 MOVEABS 3 MHELICAL 4 MOVECIRC 5 MOVEMODIFY 10 FORWARD 11 REVERSE 12 DATUMING 13 CAM 14 Forward Jog 15 Reverse Jog 20 CAMBOX 21 CONNECT 22 MOVELINK Bit Set Error...

Page 558: ...with an implied binary point between bits 23 and 22 When the implied most significant non sign bit is made explicit it is located to the immediate left of the binary point The floating point number x...

Page 559: ...16 MC224 Only P300 Axis Expander for 1 to 4 daughter baords Options Euro205 Euro205X Only P445 Daughter Board Mounting Kit Options MC206 Only P399 Daughter Board Adapter Daughter Boards Euro205 MC206...

Page 560: ...91 SERCOS Daughter 1 P292 SLM Daughter P295 USB Daughter P296 Ethernet Daughter 1 P297 Profibus Daughter Options I O P315 CAN 16 I O P325 CAN 8 analog Inputs P330 MC Network Interface MC216 Keypads Ca...

Page 561: ...ATYPE 8 152 AUTORUN 8 78 AXIS 8 14 Axis Parameters 7 11 AXISSTATUS 8 153 AXISVALUES 8 79 B BASE 8 15 BASICERROR 8 65 Board 12 7 BOOST 8 154 Breakpoints 10 59 C CAD2Motion 10 72 CAM 8 16 CAMBOX 8 19 C...

Page 562: ...DIR 8 89 DISPLAY 8 89 DLINK 8 90 DocMaker 10 73 DPOS 8 159 DRIVE_STATUS 8 159 E EDIT 8 95 EDPROG 8 94 ELSE 8 65 8 70 ELSEIF 8 65 EMC 3 9 ENCODER 8 160 ENDIF 8 67 8 70 ENDMOVE 8 160 Environmental Consi...

Page 563: ...53 INVERT_STEP 8 165 IsOpen 12 5 J JOGSPEED 8 165 K KEY 8 53 L LAST_AXIS 8 103 LENZE 5 7 LINKAX 8 166 LINPUT 8 54 LIST 8 104 LN 8 145 LOADED 8 76 LOADSYSTEM 8 104 LOCK 8 105 LOOKUP 8 130 M MARK 8 166...

Page 564: ...8 169 N NAIO 8 107 NETSTAT 8 108 Network 11 1 Connection of 11 4 Node Addressing 11 5 Programming 11 6 Specification 11 12 NEW 8 108 NEXT 8 67 8 71 NIO 8 108 NOT 8 145 NTYPE 8 169 O OCX 12 1 OFF 8 150...

Page 565: ...SCOPE 8 113 SCOPE_POS 8 114 SELECT 8 114 SEND 8 61 SERCOS 8 115 SERVO 8 177 Servo Gains 6 8 Servo Loop 6 12 SERVO_PERIOD 8 116 SET_BIT 8 147 SETCOM 8 62 SGN 8 147 SIN 8 148 SLM 8 90 SLOT 8 115 SP 8 1...

Page 566: ...K 8 122 UNTIL 8 72 8 74 8 76 USB 8 123 USB_STALL 8 124 V VERIFY 8 180 VERSION 8 124 VFF_GAIN 6 11 8 180 VIEW 8 124 VP_SPEED 8 181 VR 8 125 8 181 W WA 8 75 WAIT 8 75 WAIT IDLE 8 75 WAIT LOADED 8 76 WAI...

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