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Motion Coordinator MC206
Trio Motion Coordinator MC206 User Manual
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Tr
i
o
M
o
t
i
o
n
Te
c
h
n
o
l
o
g
y
Mo
tion Coo
rdinato
r
T
echn
ica
l Reference M
anual
Sixth Ed
ition • 2004
Re
v
i
s
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n
4
2
Table of Contents
Table of Contents
5
Introduction
11
Setup and Programming
14
Products
15
System Building
21
System Examples
22
Features and Typical Applications
25
The Trio Motion Technology Website
26
Hardware Overview
27
Motion Coordinator MC202
29
Connections to the MC202
30
Serial Port Connections
33
MC202 - Feature Summary
34
Motion Coordinator Euro205(X)
36
Axis Configuration
37
Connections to the Euro 205(X)
38
Euro 205(X) Backplane Connector
39
Euro205 - Feature Summary
45
Euro205X - Feature Summary
46
Motion Coordinator MC206
48
Connections to the MC206
51
Amplifier Enable (Watchdog) Relay Output
54
Reference Encoder Input
55
Universal Serial Bus
55
MC206 - Stepper Outputs / Encoder Inputs
56
MC206 - Feature Summary
57
Motion Coordinator MC216
59
Connections to the MC216
61
MC216 - Feature Summary
66
Motion Coordinator MC224
67
Connections to the MC224
69
MC224 - Feature Summary
74
Installation
75
Motion Coordinator MC202
77
Motion Coordinator Euro 205
79
Motion Coordinator MC216
80
Motion Coordinator MC206
82
EMC Considerations
83
Installation Requirements to Ensure Conformance
85
Motion Coordinator MC202
85
Motion Coordinator Euro 205
85
Motion Coordinator MC206
86
Motion Coordinator MC216
87
Daughter Boards
89
Fitting and Handling Daughter Boards
92
MC216 + Axis Expander Slot Sequence
94
Fitting Daughter Boards to the Euro205
95
Fitting Daughter Boards to the MC206
97
Servo Encoder Daughter Board
99
Servo Resolver Daughter Board
102
Reference Encoder Daughter Board
104
Stepper Daughter Board
106
Stepper Encoder Daughter
108
Hardware PSWITCH Daughter Board
111
Analog Output Daughter Board
113
SSI Servo Encoder Daughter Board
114
Differential Stepper Daughter Board
117
CAN Daughter Board
119
SERCOS Daughter Board
120
SLM Daughter Board
121
USB Daughter Board
123
Ethernet Daughter Board
124
Profibus Daughter Board
125
Expansion Modules
127
Input/Output Modules
129
CAN 16-I/O Module (P315)
129
CAN Analog Inputs Module (P325)
137
Operator Interfaces
141
Membrane Keypad (P503)
142
Mini-Membrane Keypad (P502)
145
Programming the Membrane Keypad
146
Keypad KEY on - KEY off Mode
150
FO-VFKB Fibre Optic Keypad/Display Interface
152
FO-VFKB Keypad Interface
152
Communications Adaptors
154
Serial to RS485 Adapter: (P348)
154
P349 - Serial to RS485 Adapter to an MC202
156
P435 - Serial to Fibre-Optic Adapter
157
System Setup and Diagnostics
159
Preliminary Concepts
161
System Setup
161
Preliminary Checks
162
Checking Communications and System Configuration
162
Input/Output Connections
164
Setting Servo Gains
166
Proportional Gain
168
Integral Gain
168
Derivative Gain
168
Output Velocity Gain
169
Velocity Feed Forward Gain
169
Diagnostic Checklists
171
Rogramming
173
What Is a Program
175
Sequence
176
Selection
177
Iteration
177
Controller Functions
179
Identifiers
180
Expressions
181
Parameters
183
Command Line Interface
187
Rio Basic Ommands
191
Table of Contents
193
Motion and Axis Commands
201
Acc
201
Add_Dac
201
Addax
202
Axis
204
Base
205
Cam
206
Cambox
209
Cancel
216
Connect
217
Datum
218
Dec
219
Defpos
220
Forward
221
Match
221
Mhelical
222
Move
223
Moveabs
224
Movecirc
226
Movelink
227
Movemodify
231
Regist
232
Rapidstop
234
Reverse
234
Input / Output Commands
235
Ain
235
Ain0..7 / Ainbi0..7
236
Cursor
236
Chr
237
Defkey
237
Flag
238
Flags
239
Get
239
Hex
241
In()/In
241
Input
242
Inputs0 / Inputs1
243
Invert_In
243
Key
243
Linput
244
Print
246
Pswitch
248
Readpacket
250
Record
250
Send
251
Setcom
252
Program Loops and Structures
255
Basicerror
255
Else
255
Elseif
255
Endif
257
For..to.. Step ..Next
257
Gosub
258
Goto
259
Idle
260
Next
261
Repeat
262
Return
263
Step
263
Stop
263
Then
264
Until
264
Wait Idle
265
Wait Loaded
266
Wait until
266
While
267
Wend
267
System Parameters and Commands
268
Address
268
Appendprog
268
Autorun
268
Axisvalues
269
Can
269
Canio_Address
271
Canio_Enable
272
Canio_Status
272
Checksum
272
Clear
273
Clear_Params
273
Commserror
274
Commstype
275
Compile
275
Control
275
Copy
276
Date
276
Day
277
Del
277
Devicenet
278
Dir
279
Display
279
Dlink
280
Edprog
284
Edit
285
Eprom
285
Error_Axis
286
Ethernet
286
Execute
288
Feature_Enable
288
Flashvr
290
Frame
291
Free
291
Halt
293
Initialise
293
Last_Axis
293
List
294
Loadsystem
294
Lock
295
Motion_Error
296
Mpe
296
Naio
297
Netstat
298
New
298
Nio
298
Peek
299
Poke
299
Power_Up
299
Process
300
Profibus
300
Remote
301
Rename
301
Run
302
Runtype
302
Scope
303
Scope_Pos
304
Select
304
Slot
305
Sercos
305
Servo_Period
306
Stepline
307
Stick_Read
307
Stick_Write
308
Store
308
Table
309
Tablevalues
310
Time
311
Trigger
311
Troff
311
Tron
312
Tsize
312
Unlock
312
Usb
313
Usb_Stall
314
Version
314
View
314
Wdog
316
Process Parameters and Commands
319
Error_Line
319
Indevice
319
Lookup
320
Outdevice
320
Pmove
320
Proc
321
Proc_Line
321
Procnumber
321
Proc_Status
321
Reset
322
Run_Error
322
Ticks
322
Mathematical Operations and Commands
323
Add
323
Subtract
323
Multiply
324
Divide
324
Equals
325
Not Equal
325
Greater than
326
Greater than or Equal
326
Less than
327
Less than or Equal
327
Abs
328
Acos
328
And
328
Asin
329
Atan
330
Atan2
330
Constant
331
Cos
332
Exp
332
Frac
332
Global
333
Ieee_In
333
Constants
340
Axis Parameters
342
Programming
373
Example Programs
375
P Rogramming E Xamples
375
Support Software
389
Motion Perfect 2
392
System Requirements
392
New Features for Motion Perfect 1 Users
393
Connecting Motion Perfect to a Controller
394
Motion Perfect 2 Projects
395
The Project Check Window
395
Project Check Options
396
The Motion Perfect Desktop
399
Main Menu
400
Controller Menu
401
Controller Configuration
402
Feature Enable
403
Loading New System Software
405
Flashstick Support
407
Lock / Unlock
408
Motion Perfect Tools
409
Terminal
410
Axis Parameters
411
Oscilloscope
414
Keypad Emulation
423
Table / VR Editor
425
Jog Axes
426
Digital IO Status
430
Analogue Input Viewer
432
Linking to External Tools
433
Control Panel
435
Creating and Running a Program
440
The Motion Perfect Editor
441
Editor Menus
444
Program Debugger
446
Running Programs
449
Making Programs Run Automatically
450
Set Powerup Mode
450
Storing Programs in the Flash EPROM
451
Configuring the Motion Perfect 2 Desktop
452
Communications
452
Changing Comms Port Parameters
453
Editor Options
455
General Options
455
Saving the Desktop Layout
456
Running Motion Perfect 2 Without a Controller
457
MC Simulation
457
Cad2Motion
460
Docmaker
461
Project Autoloader
462
Files
463
Running the Program
464
Script Commands
465
Script File
470
Fibre -Optic Network
473
General Description
475
Connection of Network
476
Network Programming
478
Examples of Network Programming
480
Network Specification
484
Using the Trio Activex Control
487
Introduction
489
Requirements
489
Installation of the Activex Component
489
Using the Component
489
Connection Commands
490
Properties
493
Motion Commands
495
Process Control Commands
504
Variable Commands
505
Input / Output Commands
508
General Commands
514
Events
516
Triopc Status
517
Communications Protocols
521
Modbus Rtu
521
Introduction
521
Initialisation and Set-Up
521
Modbus Technical Reference
522
Glossary
525
Profibus
526
Installation and Set-Up
526
Devicenet
531
Installation and Set-Up
531
Devicenet Information
531
Connection Types Implemented
532
Devicenet Objects Implemented
532
MC Object
538
Devicenet Status Leds
543
Ethernet
544
Default IP Address
544
The Subnet Mask
545
Connecting to the Trio Ethernet Daughter Board
546
Reference
551
Atype
553
Axisstatus / Errormask
554
Control
555
Communications Errors
556
Mtype
557
Netstat
557
Data Formats and Floating-Point Operations
558
Single-Precision Floating Point Format
558
Product Codes
559
4
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Trio Motion Coordinator MC206 Specifications
General
Brand
Trio
Model
Motion Coordinator MC206
Category
Controller
Language
English
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