Trio Motion Coordinator Euro 205, Technical Reference Manual

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Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-13
Motion and Axis Commands
The
ADDAX
command takes the demand position changes from the specified axis and
adds them to any movements running on the axis to which the command is issued.
The specified axis can be any axis and does not have to physically exist in the sys-
tem. After the
ADDAX
command has been issued the link between the two axes
remains until broken and any further moves on the specified axis will be added to
the base axis. To break the link an
ADDAX(-1)
command is issued.
The
ADDAX
command therefore allows an axis to perform the moves specified on
TWO axes added together. When the axis parameter
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
command sums the movements in encoder edge units.
Example 1:
UNITS AXIS(0)=1000
UNITS AXIS(1)=20
' Superimpose axis 1 on axis 0
ADDAX(1) AXIS(0)
MOVE(1) AXIS(0)
MOVE(2) AXIS(1)
'Axis 0 will move 1*1000+2*20=1040 edges
Example 2: Pieces are placed onto a continuously moving belt and further along the line are
picked up. A detection system gives an indication as to whether a piece is in front
of or behind its nominal position, and how far.
FORWARD AXIS(0)' set continuous move
ADDAX(2)
REPEAT
GOSUB getoffset' Get offset to apply
MOVE(offset) AXIS(2)
UNTIL IN(2)=ON
Axis 0 in this example executes a continuous
FORWARD
and a superimposed
MOVE
on
axis 2 is used to apply offsets
axis:
Axis to superimpose