Technosoft 2018
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iPOS4808 VX Technical Reference
functions, interrupt service routines and homing procedures
. The TML program may also include
cam tables used for electronic camming applications
.
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.
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
5.3. Combining CANopen /or other host with TML
Due to its embedded motion controller, an iPOS4808 offers many programming solutions that may
simplify a lot the task of a CANopen master. This paragraph overviews a set of advanced
programming features which arise when combining TML programming at drive level with CANopen
master control. A detailed description of these advanced programming features is included in the
CANopen Programming (part no. P091.063.UM.xxxx)
manual. All features presented below
require usage of EasyMotion Studio as TML programming tool
1
The customization of the interrupt service routines and homing routines is available only for iPOS480x CAN execution
2
Optional for iPOS480x CANopen execution
