Trio Motion Coordinator Euro 205, Technical Reference Manual

Page: 316 / 566

8-126 Trio BASIC Commands
System Parameters and Commands
Trio Motion Technology
GOTO movep
load:
‘PUT LOAD IN POSITION AND MARK ARRAY
OP(15,OFF)
VR(VR(0))=1
RETURN
Note: The variables are battery-backed so the program here could be designed to store
the state of the machine when the power is off. It would of course be necessary to
provide a means of resetting completely following manual intervention.
Example 3:
‘Assign VR(65) to VR(0) multiplied by Axis 1 measured position
VR(65)=VR(0)*MPOS AXIS(1)
PRINT VR(65)
WDOG
Type: System Parameter
Description: Controls the
WDOG
relay contact used for enabling external drives. 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 software will override the watchdog contact OFF.
Example:
WDOG=ON
Note:
WDOG=ON / WDOG=OFF
is issued automatically by Motion Perfect when the “Drives
Enable” button is clicked on the control panel
Note 2:
Analog outputs and step/direction outputs are also disabled when WDOG=OFF
:
Type: Special Character
Description:
The colon character is used to terminate labels used as destinations for
GOTO
and
GOSUB
commands.
Labels may be character strings of any length. (The first 15 characters are signifi-
cant) Alternatively line numbers can be used. Labels must be the first item on a line
and should have no leading spaces.