Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-101
System Parameters and Commands
FRAME
Type:
System Parameter
Description:
Used to specify which “frame” to operate within when employing frame transfor-
mations. Frame transformations are used to allow movements to be specified in a
multi-axis coordinate frame of reference which do not correspond one-to-one with
the axes. An example is a SCARA robot arm with jointed axes. For the end tip of the
robot arm to perform straight line movements in X-Y the motors need to move in a
pattern determined by the robots geometry.
Frame transformations to perform functions such as these need to be compiled
from “C” language source and loaded into the controller system software. Contact
Trio if you need to do this.
A machine system can be specified with several different “frames”. The currently
active
FRAME
is specified with the
FRAME
system parameter.
The default
FRAME
is 0 which corresponds to a one-to-one transformation.
Example:
FRAME=1
FREE
Type:
System Parameter (Read Only)
Description:
Returns the amount of program memory available for user programs.
Note:
Each line takes a minimum of 4 characters (bytes) in memory. This is for the length
of this line, the length of the previous line, number of spaces at the beginning of
the line and a single command token. Additional commands need one byte per
token, most other data is held as ASCII.
The Coordinator compiles programs before they are run, this means that approxi-
mately twice the memory is required to be able to run a program.
Parameters:
None
Example 1:
>>PRINT FREE
47104.0000
>>
Example 2:
VR(10)=IN AND 255
This line requires 21 bytes of storage in the uncompiled version and 19 in the com-
piled version:
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