Motion
Kollmorgen drive with SERVO_PERIOD issue
EtherCAT network goes in operational state only with SERVO_PERIOD=250 µsec setting when Kollmorgen drives are in use. The network stays in safe-operational state with any other servo period setting. The following needs to be done; * MC_CONFIG to be ...
Using an Ethernet switch for Ethercat
EtherCAT cannot use a standard Ethernet Switch. If you want a Switch because it makes the topography of the wiring more convenient, then you need an an EtherCAT Swtich/hub such as the Beckhoff CU1128. Using a switch makes no difference to the logical ...
P329 CAN-16DI/16DO module heartbeat
There is no heartbeat timeout in the P329 but there is a SYNC monitor which will create an error condition if 2 sync messages are missed in a row. The ‘Heartbeat Producer’ protocol has been implemented. When object 1017_00 is non zero the protocol is ...
P375 card with F6NANO
I'm trying to use a P375 card with 3 embedded stepper axes. P375 flexsice serial number is P375-00096. It was bought in London from a reseller. I have tried to drive it with the Flex-6 Nano without success. ...
EC_EXTEND - comments
Comments can be added to the XML but not at the moment in the full editor. For example I added this: <Transition>2</Transition> </Entry> <!-- Comment #1 --> <Entry> <Index>0x1A00</Index> <SubIndex>0</SubIndex> <Length>1</Length> <Data>0</Data> ...
MOVELINK and CAMBOX following DPOS
CAMBOX, MOVELINK, PICKLINK, FLEXLINK can all use bit 13 of the 'link options' parameter to use DPOS
Few questions regarding Motion Perfect
If you want to do the same as the Motion Stop button in Motion Perfect then this is the command list done by Motion Stop: RAPIDSTOP(2) HALT WDOG=0 That stops all axes, stops all programs and disables the drives.
Setting up Profinet connection with Trio Controllers
Requirement Minimum firmware version of 2.0319. Supporting Documents See the attached zipped file (dist.zip) for the following supporting files: Application Note AN-449 TRIO Controllers with Profinet Motion Perfect project sample GSD file: ...
DX5 Brake Motor Control
There are two parts to setting up the brake control for DX5 drives that have brake motors connected to them. 1. Set the DX5 drive module for the axis required for remote brake control. In Basic Setup set the Motor Brake Assignment to Brake ...
Panasonic A5 & A6 Drive with Trio controllers
The Panasonic A5 & A6 Drive has 2 features set; the Positive Over Travel Input (POT) and the Negative Over Travel input (NOT). If these are connected to limit switches then the system will work in the usual way until the limit switch is triggered. If ...
M206X with P326 AOUT
There is no AOUT command in the MC206X so it is necessary to run a program that makes the CANbus telegram from the values you want to send. See the attached program. The program sets up an unused CAN buffer to CAN ID required CAN(-1, 5, 16, $60, 8, ...
P367 Thermocouple Integration with Motion Perfect v5.1 and later
With the launch of Motion Perfect v5.1 and firmware updates to the P367 Thermocouple device it becomes easier to set up and control your P367 slices. Below is a screen shot showing the Basic Setup screen which easily allows programmers how to ...
LinMot latest Drive support DS402 homing & Torque control
LinMot have updated their firmware to include Position, Speed & Torque control now. The respective CoE objects are mapped in the fixed PDO profiles. The below LinMot Drives with Firmware 6.10 able to support this profiles In the attached EC_EXTEND, ...
Flexslice Loading/Configuration Limits - EBUS Load
EBUS loading of the the Flex-6 Nano and the Flex Coupler (P366) is limited to 16. Attached is a spreadsheet to calculate your projects requirements and highlight any possible limitations.
EURO 404 - Motion Problem at SERVO_PERIOD 250
A motion problem could occur when running MC403, MC405, Euro404 or Euro408 at 250 usec servo period. The moves would stop (buffers frozen) and an uncommanded movment could occur on one axis in an XY pair. The issue occured very infrequently and was ...
MC224 Control Technic with SLM-Card VS MC664
MC664 in theory can support the P873 though we do not at present have any customers using that combination. The P873 will support 6 axes (2 x 3). You do not need feature codes, the axes are included in the price. There was no special build of MC224 ...
Can I have a new EtherCAT drive put in the controller firmware?
In genaral nowadays we don't add new EtherCAT servo or stepper drives into the database as a rule. There are just too many variants now. So the way it is tackled is to use Motion Perfect v5 to process the ESI file from the vendor and generate an ...
Cad2Motion software GCode
Does CAD2Motion output G-Code? No that’s not the case. Cad2Motion does not output G-Code. It outputs a Trio BASIC motion program. So you must decide which to use, either G-Code from a 3rd party CADCAM system or take a dxf file and convert to a motion ...
Festo servo drive
Can we use CMMT-AS-C2-3A-EC-S1 Festo servo drive with P900? Yes we have an EC_EXTEND file for this drive. See the attachment. Rename it to EC_EXTEND.TXT before using it.
General EtherCAT Error
Motion Coordinator reports a General EtherCAT Error with a number. What does it mean? Error - General Ethercat Error(8) = invalid data, exceeded maximum telegram length (by attempting to add too much data into the telegram.) Error - General ...
Analog incremental linear encoder input to Trio
We are looking to retrofit a Trio controller to a 3 axis CNC machine which has heidenhain analog incremental linear encoders fitted (1Vpp - 40um linear period) but unsure which if any controller has this function available. Can you advise please - ...
Using old CANIO with MC405/MC403
The P315//P316 and P319 all use the same Canbus protocol. The only thing we have seen with the old modules connected to the new MC4xx is that they do not power up fast enough so the MC405 must be programmed to wait a few seconds then start the ...
How to set 0x1A00:0x00 when adding objects to EC_EXTEND SDO init
When adding a new Object to the PDDO in this case 0x6077:0x00 for Torque Actual Value, the value of 0x1A00:0x00 must be set so that it references all the objects in the PDO inlucing the new one. See below.
Question about Omron R88D and Trio Firmware 2.0296
The most likely issue is that the R88D cannot use the Trio as clock master in that Trio firmware version. You must add this command to force the first drive to be Distributed Clocks Master. Set the first drive with DC capability to be the Distributed ...
Inquiry about matching 4 axes EtherCAT drive
The pointers to the PDO are 0x1600 .. 0x16C0 and 0x1A00 .. 0x1AC0. This is a normal offset pattern for a multi axis node. The offset per axis is 0x40, so 1600, 1640, 1680, 16C0 and 0x1A00, 0x1A40, 0x1A80 and 0x1AC0.
Ethercat axis trajectory error
Check the Target Position that is sent over EtherCAT. DAC_OUT is the value the controller puts on the telegram. Every cycle, DPOS --> DPOS * UNITS + offset --> DAC_OUT Compare DAC_OUT to the Target Position object value in the drive. Over SDO on ...
Connector Kits for Motion Coordinators
Spare connector kits are avaialble from Trio Distributors. Here is the list of available kits. P920 - MC664/MC464 Connector Kit P921 - P876/P871 EtherCAT/RTEX module connector kit P922 - P879/P874 Flexaxis connector kit P923 - MC403/MC403-Z ...
P367 Thermocouple Slice Updated Technical Note
P367 Thermocouple FlexSlice Firmware User Guide This documentation is for use with controller firmware v2.0304 and newer. With this firmware version the controller will identify the P367 module without the need for the use of an imported EC_EXTEND ...
Error mapping to compensate for mechanical errors
COMPENSATE_XY is probably the command you want. From the TrioBASIC Help: In some applications both of the X-Y axes of a machine bed require compensation for ballscrew errors depending on the X-Y position: Axis 0 - Motor Axis - COMPENSATE_XY command A ...
XYZ axes running slower than expected
One of our customers faced a problem with Slow Speed on all Axes. They just changed the Y axis Drives with a different type and changed the UNITS (higher) which seems good becasue they can move the Axis more precisely. But now when running XYZ ...
Technical request for lifetime of flashROM (MC4N)
The VRs are saved in a file system like a flash-stick so it is not erasing the flash every time you change a value. It uses many pages of flash. The expected lifetime is published on the Trio website on the specifiations pages. Compare Controllers ...
MC508 P849 EnDat encoder input
We are to propose a solution for 6axis step&dir and 2 ENDAT encoders reading. I would like to be sure the P849 is able to manage the two requests together. Yes, EnDAT will work on any of the first 8 axes. It does not work if there is another axis ...
Question- resolver input to Motion Coordinator
The usual setup for a servo drive and motor is that the resolver on the motor will be connected to the Drive. It is used for commutaton angle and for speed/position feedback. The Servodrive would then have an emulated encoder output, usually ABZ ...
Schneider drive LXM32M
The LXM32 is in the controller database. Here are some notes refering to this drive: 1.1. LXM32M Firmware profile V2.0271 and later have the settings for this drive. Firmware to set up the usual Trio small profile (V2.0271) Startup is OK. Drives with ...
Reading and Writing TABLE in C
double varValue[100]; bool setTable = false; bool getTable = false; long lStartPos = 100; long lBuffSize = 24; for (int i = 0; i < 24; i++) { varValue[i] = i; } setTable = TrioPC_SetTable(triopc_context, 0, lBuffSize, varValue); getTable = ...
Reading blocks of data from TrioPC Motion ActiveX or DLL
The ActiveX and DLL have a way to read blocks of data. The method is called PRMBLK. If you look at he help, it shows you the list. You need to define the type of block you want to read, for example DefineSystem would be used to read system values ...
Are there major differences between Interpolated Position Mode (0x6060=7) and CSP mode (0x6060=8)?
Inperpolated position mode is designed so that the master sends an array of positions and the drive does a movement that follows the positions by interpolating between them. There is an interpolation time period set in objects 0x60C2:0x01 and ...
MC403 and MC664 Drawings
They are on the Trio Website: http://www.triomotion.uk/public/products/p821-p825.php http://www.triomotion.uk/public/products/p862.php Open the Documents tab to see the download links.
Wire size for Flexslice I/O modules
Trio's Flexslice modules use the a 10-way 3.5mm pitch, push fit connector: 15EDGKN-3.5-10P-13 from Degson. According to the manufacturer's datasheets (https://www.tme.eu/Document/580c900c7460c0af0ff973aec46ec4f5/15edgk.pdf) the maximum wire size is ...
RS232 connection to my MC206X is unstable
Connection fails when tryng to load a project. This is usually due to using a USB to RS232 converter that does NOT have the FTDI chipset. Check which chipset the converter is based on. The default on the MC206X is 9600, 7 data bits, 2 stop bits, ...
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