Technosoft iPOS4808 BX-CAN, Technical Reference

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Technosoft 2015 82 iPOS4808 BX-CAN Technical Reference
5.3.1. Using TML Functions to Split Motion between Master and Drives
With Technosoft intelligent drives you can really distribute the intelligence between a CANopen
master and the drives in complex multi-axis applications. Instead of trying to command each step
of an axis movement, you can program the drives using TML to execute complex tasks and inform
the master when these are done. Thus for each axis, the master task may be reduced at: calling
TML functions (with possibility to abort their execution) stored in the drives EEPROM and waiting
for a message, which confirms the finalization of the TML functions execution.
5.3.2. Executing TML programs
The distributed control concept can go one step further. You may prepare and download into a
drive a complete TML program including functions, homing procedures
1
, etc. The TML program
execution can be started by simply writing a value in a dedicated object,
5.3.3. Loading Automatically Cam Tables Defined in EasyMotion Studio
The iPOS4808 offers others motion modes like
2
: electronic gearing, electronic camming, external
modes with analogue or digital reference etc. When electronic camming is used, the cam tables
can be loaded in the following ways:
a) The master downloads the cam points into the drive active RAM memory after each power
on;
b) The cam points are stored in the drive EEPROM and the master commands their copy
into the active RAM memory
c) The cam points are stored in the drive EEPROM and during the drive initialization
(transition to Ready to Switch ON status) are automatically copied from EEPROM to the
active RAM
For the last 2 options the cam table(s) are defined in EasyMotion Studio and are included in the
information stored in the EEPROM together with the setup data and the TML programs/functions.
Remark: The cam tables are included in the .sw file generated with EasyMotion Studio.
Therefore, the drives can check the cam presence in the drive EEPROM using the same
procedure as for testing of the setup data.
5.3.4. Customizing the Homing Procedures
The iPOS4808 supports all homing modes defined in CiA402 device profile, plus 4 custom based
on hard stop. If needed, any of these homing modes can be customized. In order to do this you
need to select the Homing Modes from your EasyMotion Studio application and in the right side to
set as “User defined” one of the Homing procedures. Following this operation the selected
procedure will occur under Homing Modes in a subtree, with the name
HomeX where X is the
number of the selected homing.
1
The customization of the interrupt service routines and homing routines is available only for iPOS4808 CAN executions
2
Optional for the iPOS4808 CANopen execution