TRIO Basic
Registration input to step output delay
REGIST will precisely capture a position within microsconds but the MARK goes TRUE only on the following servo cycle, so as a raw edge detection it is no faster than an IN command. The only advantage is that you get to trigger on an edge with REGIST. ...
How to pause and restart a BASIC program
BASIC programs run best when left to run continuously with functions controlled by setting values in the global VR varables. However sometimes it is necessary to put a program in a "paused" state while another program takes control of something. The ...
Flex6-NANO Startup Loop always goes offline
I made a mistake and my Flex-6 Nano always runs a configuration on startup that results in the PC not being able to connect. What can be done to solve it? ================================================================================== You need to ...
Number of CONSTANT definitions in STARTUP
The number is shown in the Trio BASIC Help for CONSTANT. CONSTANT are set globally and are available to all the BASIC programs. There is a local constant definition called DEFCONST. When that is set in a program it is known to that program alone. You ...
Servo feeder with measuring wheel.
Good to hear from you. You shoule put the EtherCAT drive into CSV (speed mode) then it is possible to combine the EtherCAT axis with the encoder wheel as feedback. BASE(wheel) ATYPE = 44 ' (servo axis type) UNITS = UNITS AXIS(ecat_servo) DAC_SCALE = ...
Ethernet Modbus TCP VR mapping, ETHERNET function
Q. I want to compile the existing project and the compiler says it has problems with the ETHERNET command. A. I can see the MC403 which does not work has 2.0268 which is relatively old. The controller that does work has a different firmware version. ...
What is the life of Flash Data?
In the MC206 and MC206X, the TABLE is in battery backed RAM. In the MC4/5/6 Flash memory is used but like a USB Flash-stick. The firmware creates a file store area on the Flash and maintains an index to the contents. The Flash memory used is much ...
Modbus TCP and Ethernet IP on Flex-6-Nano
Q. Can we run and use Modbus TCP server and Ethernet IP server on Flex-6-Nano at the same time? A. Yes you can use both in parallel. They open different "port" numbers on the Ethernet communications but have the same IP Address. For example Modbus is ...
Single turn SSI absolute encoder
Set ENCODER_BITS to the same as the absolute encoder i.e. a 24 bit abs encoder set ENCODER_BITS = 24 If the repeat of the encoder is not 2^24 or another power of 2 then use DRIVE_REP_DIST to set the repeat value.
'Forward' speed change during move
FORWARD commands do not need to buffer. Just set FORWARD once and leave it running. You can change SPEED any time on the fly. SPEED set to 0 will stop the axis. A negative SPEED value will make the axis move in reverse. You only need to CANCEL when ...
WDOG OFF for independent axes
Is there a way to turn off the WDOG for just one motor? We have some motors that have magnetic coupling shafts. when the motor stops, there is some oscillation because shaft is bouncing between the two poles of the magnet and the motor is trying to ...
MOVEABSSEQSP type problem
Work out how many points per second are being executed in the MOVEABSSEQSP. If more than one per msec then that is not possible even with the MOVEABSSEQ type move. The other consideration is the vector length in the buffer. The LIMIT_BUFFERED value ...
CAN cmd 8, SDO read, data type
This sub-routine looks at the first value returned by CAN function 8, which is the data type. IF can_ok=FALSE THEN PRINT #op_chan,"CAN error SDO ";HEX(obj_index) ELSEIF VR(vrbase)=$80 THEN PRINT #op_chan,"SDO ";HEX(obj_index);" read aborted by slave" ...
CAN cmd 6, Read message
Function = 6: Syntax: CAN(channel, 6, message, variable) Description: Read in the message from the specified buffer to a VR array. The first VR holds the identifier. The subsequent values hold the data bytes from the CAN packet. Parameters: message: ...
Loading encrypted project from SD card
This is the content for the SD card TRIOINIT.BAS ' *** ' SD Card decryption demo. ' Prepared by Trio Motion Technology Ltd. ' ' *** PROJECT_KEY "O5/A6qXkaXc" FILE "LOAD_PROJECT" "training ecr1" Replace the key above with yours and use your project ...
I would like to get dual feedback from MC4N.
This could be the PDO setup to use. See the Axis number in column 5. It is relative to the first axis.
AXISSTATUS = L Speed limit active - how to deal with it?
AXISSTATUS L flag means the axis is in speed limited mode. It means it's running a MOVESP/MOVEABSPS/MOVECISRCSP and the VP_SPEED is not the SPEED but is at the FORCE_SPEED level. If CORNER_MODE is active, that will also show as speed limiting with ...
P375 card with 3 stepper - MPOS and DPOS in error
Even with open loop stepper, the P375 has an encoder counter that counts the pulses and sends them back to the controller so that we can do registration. The feedback is in pulse counts but DPOS is in counts x 256. Therefore it is necessary to set ...
virtual output
Q: How do I used a virtual output? How can I read the state of the virtual output? A: Set virtual output with OP. Read virtual output with IN. OP(24,ON) IF IN(24)=ON THEN PRINT "OK" ENDIF
P375 setting up axis type
Set DRIVE_MODE and DRIVE_PROFILE as below. For example to set up encoder inputs with pulse and direction inputs, set as follows. DRIVE_MODE = 5 DRIVE_PROFILE = 1
MOVEABS not ending in Target positon
The cause the problem is that a MOVEABS takes ENDMOVE of the previous move as the start point. When we cancel the move in the MTYPE, it stops before ENDMOVE so it is not a valid start point any more. Here is a possible solution but it is not perfect. ...
UNTIL REMAIN < 5 not working
BASE(z_axis) MOVEABS(0) WA(200) REPEAT WA(10) UNTIL REMAIN < 5 Probably, the MOVEABS is loading into PMOVE or even to NTYPE but the check of REMAIN is still seeing the REMAIN from the previous move that is in MTYPE. You must check that the move you ...
Moving traverse from point to point repeatedly
2 suggestions: 1. Move to positions BASE(0) REPEAT MOVEABS(position1) MOVEABS(position2) UNTIL event=TRUE 2. Move to sensor position1 and position 2 are set to be beyond the sensor postion BASE(0) REPEAT MOVEABS(position1) WAIT UNTIL IN(1)=ON CANCEL ...
FWD_IN with N.O. Switch
I have a N.O. limit switch sensor In normal mode it outputs ‘0’ and goes to '1' when the limit is reached. How can I used it with FWD_IN? ======================================================= The command INVERT_IN will do what you want. For example ...
Question -following error
Check FE_LIMIT and DRIVE_FE_LIMIT are set to sensible values. You could watch FE and DRIVE_FE (assuming the Actual Following Error is in the PDO) in the Motion Perfect Scope to see if the change in following error is proportional to speed.
Modbus RTU Trio slave
We have connected many different brands of HMI to the Trio using Modbus RTU on RS232. Typical serial communications setup below. baudrate = 9600 ADDRESS = 1 SETCOM(baudrate, 8, 1, 2, 1, 4) ' 8 bits, one stop bit, even parity The HMI will use Modbus ...
FILE command for Rename file
To rename a file on the SD card use the FILE "REN " function. It was not documented in the Help with Motion Perfect 5.2 but will be included in the MP version 5.3 release. Typical syntax is FILE "REN" "test_file.txt" "test.txt"
MC508 ATYPE, steppers and encoders
To configure the MC508 with 4 encoder + 4 pluse/dir axes, we suggest to set axes 0~3 as encoder, and 4~7 as pulse/direction. If you set the axis 0~7 atype to High density, then 8~15 must also be High density ATYPE as well and with that setting, you ...
Linking Motion of Two Axes
If needed, make the second motor direction the same as the first. Either reverse it in the servo-drive, or you can put the following 2 commands in the startup: STEP_RATIO(-1, 1) ENCODER_RATIO(-1, 1) It will be easier to use CONNECT etc. because you ...
Stepper Axis pulse output duty cycle and shape
The ATYPE 45 is A+B quadrature output square wave and will work with a drive that has the same type of input. alternatively ATYPE 43 outputs short pulses and a direction signal. You set the UNITS to 16 x the normal value to allow for the divider in ...
Modbus RTU Holding Registers 40001 ...
A program has this line: mb_status = MODBUS(3, -1, mbh, $04, addr, 40001, 1, 1) That is for reading the value from the server device. The syntax is value = MODBUS(3, slot, handle, modbus function code[, parameters]) 4 is Read Input Registers, so the ...
project encryption
1. Encrypt the project with your password. 2. Get the decryption Key (= value from your password and the controller serial number) 3. Load the project using the key. The programs cannot be read or edited when in the controller. The programs cannot be ...
Ethernet IP between controllers
No, it is not possible to set up EthernetIP between Motion Coordinators because our EthernetIP can only be the server side and we have no Client (Scanner) function. There are other protocols which can be used, for example Modbus TCP/IP can be set up ...
Closed loop with an external encoder
To make this work, both axes must be CSV servo type. The Delta ASDA-A2 can be set to CSV with DRIVE_MODE AXIS(0) = 2. DRIVE_PROFILE can be 0 or 1. The encoder is the tricky part. You must also make that a servo axis, so I suggest you create an ...
Pulse Train Output
A (pulse) is on pins 1 and 2. B (direction) is in pins 3 and 4. PWM output when enabled is on pins 6 and 7. There are a couple of application notes about PWM: AN-301 PWM Output control AN-329 PWM output control for Laser fire with ATYPE 36
Inconsistent speed
The max speed of the axis might be acceleration limited. For example: SPEED = 800 ACCEL = 1200 DECEL = 1200 Say the vector length = 600 - 500 = 100. ie the MOVE length is 100. From the standard equation of motion: v^2 = u^2 + 2as u is 0 v = SQR(2 * ...
RS485 communication with a battery-pack
There isn't an automatic control of the 2 wire "echo" when using PRINT and GET. The programmer must read the echo and discard those characters. Use SETCOM(9600, 8, 1, 0, 2, 0) ' no xon/xoff Don't set the 2-wire flag because that is only for Modbus. ...
Moving CAM CSV/Text File to TABLE or VR's location
The example attached is a Trio basic program that will extract the numerical values of each text file line and move the values into a TABLE or VR array. The program moves the data from the controllers on board memory but can be adjusted to move data ...
How do I limit movement to one direction to stop reversal of the axis?
If it is an axis with a REP_DIST and REP_OPTION set to 1, then when the end position is “behind” the current position, add the REP_DIST to the MOVEABS target position value. IF new_position - DPOS < 0 THEN New_position = new_position + REP_DIST ...
How I can create and delete a Virtual Axis?
An axis is Virtual when the ATYPE is 0 and the axis is in the processing schedule. To add an axis to the processing schedule, simply write to any axis parameter. For example UNITS AXIS(20) = 245 will activate the axis and it will become a virtual ...
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