[trio basic from introduction to mastery tutorial XIV] trio realizes unit axis multi-color code capture

Hello everyone , I believe many friends have used or heard of the color code function .Trio Simple configuration of physical axis can realize the function of double color code .

TRIO The color code capture command used is shown in the following figure ：

REGIST(20, channel, source, edge, window [,quantity, table_start]) 

We use A、B Two channels can capture the two-color code . If you want to realize the function of multi axis color code , Then we need special methods to deal with ：

The method is as follows ： Superimpose the desired snap axis position to the virtual axis , We capture the position of the virtual axis .

Be careful ： Because the virtual axis is used , The hardware capture speed is less than the solid axis speed .

Next ： Let's look directly at the code examples

'clear axis(3) motion buffer
BASE(3)
UNITS=1
CANCEL(2)
WAIT IDLE
WA(100)
DEFPOS(0)
WAIT UNTIL OFFPOS=0
WA(10)

BASE(4)
UNITS=1
DEFPOS(DPOS AXIS(3))
WAIT UNTIL OFFPOS=0
ADDAX(3)

BASE(3)
UNITS=1000
SPEED=1
DECEL=10
ACCEL=10
REG_INPUTS=$21

BASE(4)
UNITS=1000
SPEED=1
DECEL=10
ACCEL=10

WDOG=1

FORWARD AXIS(3)

'input in 1
REGIST(20, 0, 0, 0, 0) AXIS(3)
'input in 2
REGIST(20, 1, 0, 0, 0) AXIS(3)
'input in 3
REGIST(20, 3, 4, 0, 0) AXIS(4)

WHILE TRUE
    IF MARK AXIS(3) THEN
        PRINT "MarkA pos=",REG_POS AXIS(3)
        WA(200)
        REGIST(20, 0, 0, 0, 0) AXIS(3)
    ENDIF
    IF MARKB AXIS(3) THEN
        PRINT "MarkB pos=",REG_POSB AXIS(3)
        WA(200)
        REGIST(20, 1, 0, 0, 0) AXIS(3)
    ENDIF
    IF MARK AXIS(4) THEN
        PRINT "MarkC pos=",REG_POS AXIS(4)
        WA(200)
        REGIST(20, 3, 4, 0, 0) AXIS(4)
    ENDIF

WEND

Test plan ：IO Input 1,2,3 Short circuited together , The color code for certificate processing is triggered at the same time .IN1-2 Connected to the body axis 3 On ,IN3 Connected to virtual axis 4 On .

Let's look at the actual operation results

The accuracy is within our range , Meet our testing requirements .

Thank you. ~~~