TR.I.P.O.S. GW objects
The TR.I.P.O.S. GW programming environment is equipped with libraries and TR.I.P.O.S. GW ready-to-use objects for motion control. Such as:
- free running;
- micro-step movement at a precise position;
- stop on trigger;
- electronic CAM;
- multi-axles synchronization and ability to customize motion profiles (speed, acceleration, position stroke);
- the integrated development environment offers the following advanced functionalities:
• high-level debugging;
• compatibility with the serial (Modbus RTU) and CANbus (CANopen) interfaces);
• 32 bits arithmetic and mobile comma;
• trigonometric functions;
• interrupts/tasks management;
• 128 KB RAM space for user data, 256 KB of Flash space for application programs and 8 KB of RAM buffer;
• on-line help.
To debug the application there are available different software tools among which:
- the TR.I.P.O.S. GW terminal window: by means of this window is opened a direct communication window with the GWC unit and the related administrative network through which commands are inserted at real-time in order to verify or modify the drive objects or variables of the devices connected to the network;
- the control window (objects, variables, inputs/outputs, cycle times of the tasks, etc.).
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