Technosoft iPOS4808 BX-CAN, Technical Reference

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Technosoft 2015 74 iPOS4808 BX-CAN Technical Reference
5.2. Using the built-in Motion Controller and TML
One of the key advantages of the Technosoft drives is their capability to execute complex motions
without requiring an external motion controller. This is possible because Technosoft drives offer in
a single compact package both a state of art digital drive and a powerful motion controller.
5.2.1. Technosoft Motion Language Overview
Programming motion directly on a Technosoft drive requires creating and downloading a TML
(Technosoft Motion Language) program into the drive memory. The TML allows you to:
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Set various motion modes (profiles, PVT, PT, electronic gearing or camming 1 , etc.)
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Change the motion modes and/or the motion parameters
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Execute homing sequences
2
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Control the program flow through:
•
Conditional jumps and calls of TML functions
•
TML interrupts generated on pre-defined or programmable conditions (protections
triggered, transitions on limit switch or capture inputs, etc.)
•
Waits for programmed events to occur
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Handle digital I/O and analogue input signals
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Execute arithmetic and logic operations
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Perform data transfers between axes
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Control motion of an axis from another one via motion commands sent between axes
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Send commands to a group of axes (multicast). This includes the possibility to start
simultaneously motion sequences on all the axes from the group
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Synchronize all the axes from a network
In order to program a motion using TML you need EasyMotion Studio software platform.
5.2.2. Installing EasyMotion Studio
EasyMotion Studio is an integrated development environment for the setup and motion
programming of Technosoft intelligent drives. It comes with an Update via Internet tool through
which you can check if your software version is up-to-date, and when necessary download and
install the latest updates.
A demo version of EasyMotion Studio including the fully functional version of EasySetUp
can be downloaded free of charge from Technosoft web page.
EasyMotion Studio is delivered on a CD. Once you have started the installation package, follow its
indications. After installation, use the update via internet tool to check for the latest updates.
1
Optional for iPOS4808 CANopen execution
2
The customization of the homing routines is available only for iPOS4808 CAN execution