© Technosoft 2007 5 IBL2403 Technical Reference
complex motions without requiring intervention of an external motion controller. Using the high-
level Technosoft Motion Language (TML) the following operations can be executed directly at
drive level:
Setting various motion modes (profiles, PVT, PT, electronic gearing or camming
1
, etc.)
Changing the motion modes and/or the motion parameters
Executing homing sequences
2
Controlling 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
Handling of digital I/O and analogue input signals
Executing arithmetic and logic operations
Performing data transfers between axes
Controlling motion of an axis from another one via motion commands sent between
axes
Sending commands to a group of axes (multicast). This includes the possibility to start
simultaneously motion sequences on all the axes from the group
Synchronizing all the axes from a network
Using EasyMotion Studio for TML programming you can really distribute the intelligence
between the master and the drives in complex multi-axis applications, reducing both the
development time and the overall communication requirements. For example, instead of trying to
command each movement of an axis, you can program the drives using TML to execute complex
motion tasks and inform the master when these tasks are done. Thus, for each axis control the
master job may be reduced at: calling TML functions stored in the drive EEPROM (with possibility
to abort their execution if needed) and waiting for a message, which confirms the TML functions
execution.
Apart from a CANopen master, the IBL2403 drives can also be controlled from a PC or PLC using
the family of TML_LIB motion libraries.
For all motion programming options, the IBL2403 commissioning for your application is done
using EasySetUp.
1
Optional for IBL2403 CANopen execution
2
Available only for the IBL2403 CAN executions
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