Technosoft iPOS4808 MX Series, Technical Reference

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Technosoft 2014 87 iPOS4808 MX Technical Reference
without needing to learn them. A TML program includes a main section, followed by the
subroutines used: functions, interrupt service routines and homing procedures
1
. The TML program
may also include cam tables used for electronic camming applications
2
.
When activated, Motion Wizard adds a set of toolbar buttons in the project window just below the
title. Each button opens a programming dialogue. When a programming dialogue is closed, the
associated TML instructions are automatically generated. Note that, the TML instructions
generated are not a simple text included in a file, but a motion object. Therefore with Motion
Wizard you define your motion program as a collection of motion objects.
The major advantage of encapsulating programming instructions in motion objects is that you can
very easily manipulate them. For example, you can:

Save and reuse a complete motion program or parts of it in other applications

Add, delete, move, copy, insert, enable or disable one or more motion objects

Group several motion objects and work with bigger objects that perform more complex
functions
As a starting point, push for example the leftmost Motion Wizard button
–
Trapezoidal profiles, and
set a position or speed profile. Then press the Run button. At this point the following operations
are done automatically:

A TML program is created by inserting your motion objects into a predefined template

The TML program is compiled and downloaded to the drive/motor

The TML program execution is started
For learning how to send TML commands from your host/master, using one of the communication
channels and protocols supported by the drives use menu command
Application | Binary Code
Viewer…
Using this tool, you can get the exact contents of the messages to send and of those
expected to be received as answers.
5.2.3.5 Evaluate motion application performances
EasyMotion Studio includes a set of evaluation tools like the Data Logger , the Control Panel and
the Command Interpreter which help you to quickly measure and analyze your motion
application.
5.2.4. Creating an Image File with the Setup Data and the TML Program
Once you have validated your application, you can create with the menu command Application |
Create EEPROM Programmer File a software file (with extension .sw ) which contains all the data
to write in the EEPROM of your drive. This includes both the setup data and the motion program.
For details regarding the
.sw file format and how it can be programmed into a drive, see
paragraph 4.5
1
The customization of the interrupt service routines and homing routines is available only for iPOS4808 CAN execution
2
Optional for iPOS4808 CANopen execution