2-34 Hardware Overview
Motion Coordinator MC216
Trio Motion Technology
Programming
The Multi-tasking ability of the MC216 allows parts of a complex application to be
developed, tested and run independently, although the tasks can share data and
motion control hardware.
I/O Capability
The MC216 has 8 built in 24v inputs and 8 bi-directional I/O channels. These may
be used for system interaction or may be defined to be used by the controller for
end of travel limits, datuming and feedhold functions if required. Each of the
Input/Output channels has a status LED to make it easy to check them at a
glance. The MC216 can have up 512 external Input/Output channels connected
using DIN rail mounted CAN 16-I/O modules. These units connect to the built-in
CAN channel.
Communications
The MC216 has two built in RS-232 ports and has provision for an external duplex
RS-485 channel for simple factory communication systems. The TRIO fibre optic
network system can be fitted as an option.
One of the RS-232 ports may be configured to run the MODBUS protocol for PLC
or HMI interfacing.
If the built-in CAN channel is not used for connecting I/O modules, it may option-
ally be used for CAN communications.
USB and Profibus daughter boards may be fitted to provide additional communi-
cations options.
Axis Positioning
Functions
The motion control generation software receives instructions to move an axis or
axes from the Trio BASIC language which is running concurrently on the same
processor. The motion generation software provides control during operation to
ensure smooth, coordinated movements, velocity profiled as specified by the
controlling program. Linear interpolation may be performed in as many axes as
the controller provides, and circular or helical interpolation in any two orthogo-
nal axes. Each axis may run independently or they may be linked in any combina-
tion using interpolation, CAM profile or the electronic gearbox facilities.
Consecutive movements may be merged to produce continuous path motion and
the user may program the motion using programmable units of measurement
(e.g. mm, inches, revs etc.). The module may also be programmed to control
only the axis speed. The positioner checks the status of end of travel limit
switches which can be used to cancel moves in progress and alter program execu-
tion.
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