Technosoft IDM240-5EI - Using the Built-In Motion Controller and TML; Technosoft Motion Language Overview

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IDMx40 Technical Reference

5.1.4. Checking Setup Data Consistency

During the configuration phase, a CANopen master can quickly verify using the checksum objects

and a reference .sw file (see 4.5 and 5.2.4 for details) whether the non-volatile EEPROM memory

of an IDMx40 drive contains the right information. If the checksum reported by the drive doesn’t

match with that computed from the .sw file, the CANopen master can download

the entire .sw file

into the drive EEPROM using the communication objects for writing data into the drive EEPROM.

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 to create and download a TML

(Technosoft Motion Language) program into the drive memory. The TML allows you to:

• Set various motion modes (profiles, PVT, PT, electronic gearing

or camming

, etc.)

• Change the motion modes and/or the motion parameters

• Execute homing sequences

• 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

• Handle digital I/O and analogue input signals

• Execute arithmetic and logic operations

• Perform data transfers between axes

• Control motion of an axis from another one via motion commands sent between axes

• Send commands to a group of axes (multicast). This includes the possibility to start

simultaneously motion sequences on all the axes from the group

• Synchronize all the axes from a network

In order to program a motion using TML you need EasyMotion Studio software platform.

Optional for the IDM640 CANopen execution

The customization of the homing routines is available only for IDMx40 CAN executions