1. Trio Training
Motion 1

2. Course Overview
This module is an introduction to basic motion commands, by the end you should have an understanding of the following concepts:
Multiple axis interpolated moves
Circular interpolation
Merging moves

3. Program Framework ‘MOTION1’ Main routine FOR x=0 TO 1 BASE(x)
SPEED=200
ACCEL=500
DECEL=500
NEXT x

4. Single Axis Continuous Moves
Starts movement with the programmed speeds and accelerations
Multiple axis can be run simultaneously
FORWARD
Move the base axis in a forward direction
REVERSE
Move the base axis in a reverse direction

5. Single Axis Continuous Moves
Run the ‘DATUMING’ program
Type commands into terminal

6. Linear Interpolated Moves
Interpolated axis selected through BASE(x,y…)
Path speed and acceleration is set by first axis in base array
Individual axis speeds and accelerations are calculated through Pythagoras
MOVE(distanceX, distanceY…)
Set the final position relative to the current position
MOVEABS(positionX, positionY…)
Set the final position to a point in the workspace

7. Circular Interpolated Moves
Interpolated axis selected through BASE(x,y)
Path speed and acceleration is set by first axis in base array
Individual axis speeds and accelerations are calculated through Pythagoras
MOVECIRC(end1, end2, centre1, centre2, direction)
All parameters are relative positions
Set the final (end) position.
The path is calculated around the centre position.
Choose the direction (CW=1 CCW=0)

8. Circular Interpolated Moves
MOVECIRC(end1, end2,centre1, centre2, direction)
Note: If the end point is not on the circular arc, the arc will end at the angle specified between the centre and the endpoint

9. Merged Moves Merged moves: MERGE=state
Enables moves to be joined without having to ramp speed down to zero
The programmer is responsible for sensible merges
EG do not merge moves that reverse direction
MERGE=state
Set MERGE to be either ON or OFF

10. Merged Moves merge_move: BASE(0,1) 'set base array
MERGE=ON 'set MERGE state
MOVEABS(0,50) 'run a sequence of moves
MOVE(0,100)
MOVECIRC(50,50,50,0,1)
MOVE(100,0)
MOVECIRC(50,-50,0,-50,1)
MOVE(0,-100)
MOVECIRC(-50,-50,-50,0,1)
MOVE(-100,0)
MOVECIRC(-50,50,0,50,1)
WAIT IDLE
MERGE=OFF
RETURN

11. Task Please add a new program “MOTION1” to your project
Follow the hand-out example in Chapter 5
Feel free to modify examples
If you complete everything I have some additional work

12. Linear Interpolated Moves
MOVEMODIFY:
Starts movement with the programmed speeds and accelerations
Multiple axis can be run simultaneously
No new command issued, updates end position
MOVEMODIFY(position)
Set the final position to a point in the workspace

13. Helical Interpolated Moves
Interpolated axis selected through BASE(x,y…)
Path speed and acceleration is set by first axis in base array
2 modes of operation
True interpolated Helical path
Interpolated Circle path with following 3rd axis
MHELICAL(end1, end2,centre1, centre2, direction, distance3, [mode])
Set the final (end) position.
The path is calculated around the centre position.
Choose the direction (CW=1 CCW=0)
Set the 3rd axis final position

14. Spherical Interpolated Moves
Interpolated axis selected through BASE(x,y…)
Path speed and acceleration is set by first axis in base array
Can be used to draw a 2 axis arc where you do not know the centre of the circle
4 methods of specifying the arc
Specifying the end point and a mid point
Specifying the end point and the centre of the sphere
Specifying 2 midpoints, completes a full circle
Specifying a mid point and centre of the sphere, completes a full circle
MSPHERICAL(endx, endy, endZ, midX, midY, midZ, mode)

15. CAD2Motion
CAD2Motion
Can read Industry standard DXF files and TrioBASIC files
Generates path data as TrioBASIC programs
Tool offset compensation included
Built in tools to mirror, scale, shift, reverse and rotate motion paths and add in tool offsets
Can even be used to manually write TrioBASIC to visualise the path

16. Lookahead and CAD2Motion
'$Layer0:LAYER_1
'$StartSeq(1)
cadseq1:
MOVEABS(0,50.000)
MOVE(0,0.0339)
MOVE(0,0.1007)
MOVE(0,0.1661)
MOVE(0,0.23)
MOVE(0,0.2924)
MOVE(0,0.3534)
MOVE(0,0.4129)
MOVE(0,0.471)
MOVE(0,0.5276)
MOVE(0,0.5828)
MOVE(0,0.6365)
MOVE(0,0.6887)
MOVE…

17. CAD2Motion MERGE=ON RUN "cad2motion“,3
WAIT UNTIL PROC_STATUS PROC(3)<>0
WAIT UNTIL PROC_STATUS PROC(3)=0
WAIT IDLE
MERGE=OFF

18. Lookahead LIMIT_BUFFERED: LIMIT_BUFFERED = value MOVES_BUFFERED:
Increases buffered moves from 2 (MTYPE and NTYPE) to up to 64
Enables many small moves to be MERGED together
Increases path speed
Useful when generating move profiles from CAD data
LIMIT_BUFFERED = value
MOVES_BUFFERED:
Parameter to read the number of buffered motion commands

19. Advanced Speed control
Speed functions
Uses motion commands which end in SP
MOVESP
MOVEABSSP
MOVECIRCSP
MHELICALSP
The move will start at speed FORCE_SPEED
The move will end at speed ENDMOVE_SPEED
Intelligent corner speed control
CORNER_MODE
Slow down based on change of angle
Stop to lift tool if change of angle is too severe
Slow down based on radius