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The Technosoft Motion Language (TML) is a high-level language allowing you to:
| • | Set up a Technosoft intelligent for a given application |
| • | Program and execute motion sequences |
The setup part consists in assigning the right values to the TML registers and parameters. Through this process you can:
| • | Describe your application's configuration (e.g., motor and sensors types) |
| • | Select specific operation settings (e.g., motor start mode, PWM mode, sampling rates, etc.) |
| • | Set up the controller parameters (current, speed, position), etc. |
The output of the setup process is a set of values – the setup data – to be written into the TML registers and parameters. The setup data can be:
| a) | Stored into the drive's non-volatile EEPROM, from where it will automatically be loaded to the TML registers and parameters at power-on, if the data integrity check has been passed |
| b) | Included at the beginning of a TML program as a set of assignment instructions through which the TML registers and parameters will be initialized with the desired values |
Remark: EasySetUp – the latest generation setup tool for Technosoft intelligent drives/motors – handles the setup process according with option a). IPM Motion Studio – the previous generation setup tool – handles the setup process according with option b).
The motion programming part 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: |
| o | Conditional jumps and calls of TML functions |
| o | TML interrupts generated on pre-defined or programmable conditions (protections triggered, transitions on limit switch or capture inputs, etc.) |
| o | 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 |
Due to a powerful instruction set, the motion programming in TML is quick and easy even for complex motion applications. The result is a high-level motor-independent program which once conceived may be used in other applications too.
Basic Concepts next topics:
TML Environment
Program Execution
TML Program Structure
TML Instruction Coding
TML Data
Memory Map – Firmware version FAxx
Memory Map – Firmware version FBxx
AUTORUN mode
See also:
TML Description
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