Trio Motion Coordinator Euro 205, Technical Reference Manual

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Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-179
Axis Parameters
Example2:
‘re-initialise MPOS using absolute value from encoder
SERVO=OFF
SSI_BITS =0
SSI_BITS =databits
TRANS_DPOS
Type: Axis Parameter (Read Only)
Description: Axis demand position at output of frame transformation.
TRANS_DPOS
is normally
equal to
DPOS
on each axis. The frame transformation is therefore equivalent to 1:1
for each axis. For some machinery configurations it can be useful to install a frame
transformation which is not 1:1, these are typically machines such as robotic arms
or machines with parasitic 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.
Note: See also
FRAME
TRANSITIONS
Type: Axis Parameter
Description: Records the number of register input transitions in a
REGIST
sequence
See also
REGIST, RECORD, MATCH
UNITS
Type: Axis Parameter
Description:
The unit conversion factor sets the number of encoder edges/stepper pulses in a
user unit. The motion commands to set speeds, acceleration and moves use the
UNITS
parameter to allow values to be entered in more convenient units e.g.: mm
for a move or mm/sec for a speed.
Note: Units may be any positive value but it is recommended to design systems with an
integer number of encoder pulses/user unit.