Trio Motion Coordinator Euro 205, Technical Reference Manual

Page: 222 / 566

8-32 Trio BASIC Commands
Motion and Axis Commands
Trio Motion Technology
IF REG_POS<(MPOS+dec_dist-length) THEN
MOVEMODIFY(2*REG_POS)
ELSE
MOVEMODIFY(REG_POS)
ENDIF
ELSE
PRINT "marks give too poor fit"
ENDIF
ELSE
PRINT "marks not seen"
ENDIF
WAIT IDLE
PRINT REG_POS,ENDMOVE,TRANSITIONS,REG_MATCH
MHELICAL
Type: Motion Command.
Syntax:
MHELICAL(end1, end2, centre1,centre2, direction, distance 3)
Alternate Format:
MH()
Description: Performs a helical move.
Moves 2 orthogonal axes in such a way as to produce a circular arc at the tool point
with a simultaneous linear move on a third axis. The first 5 parameters 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. The first 4 distance and the sixth parameter are scaled
according to the current unit conversion factor for each axis.
Parameters:
end1:
position on
BASE
axis to finish at.
end2:
position on next axis in
BASE
array to finish at.
centre1:
position on
BASE
axis about which to move.
centre2:
position on next axis in
BASE
array about which to move.
direction:
The “direction” is a software switch which determines whether
the arc is interpolated in a clockwise or anti- clockwise direction.
The parameter is set to 0 or 1. See
MOVECIRC
.
distance3:
The distance to move on the third axis in the
BASE
array axis in
user units