User Manuals: Trio Motion Coordinator MC216 Controller

User Manuals: Trio Motion Coordinator MC216 Controller

Manuals and User Guides for Trio Motion Coordinator MC216 Controller. We have 1 Trio Motion Coordinator MC216 Controller manual available for free PDF download: Technical Reference Manual

Trio Motion Coordinator MC216 Technical Reference Manual

Trio Motion Coordinator MC216 Technical Reference Manual (566 pages)

Brand: Trio | Category: Controller | Size: 5 MB

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

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