TML Description

The TML provides instructions for the following categories of operations:

 

•Motion programming and control. These instructions allow you to program Technosoft motion controllers or intelligent drives/motors in order to set different motion modes and trajectories. These are divided into 2 categories function of how the motion reference is generated:
•Motion modes with reference provided by an external device via an analog input, pulse & direction signals, a master encoder or via a communication channel
•Motion modes with reference computed by the internal reference generator. In this category enter all the other motion modes

You can program one of the following motion modes:

•Trapezoidal Position Profile
•Trapezoidal Speed Profile
•S-Curve Profile
•Position-Time (PT) Interpolated
•Position-Velocity-Time (PVT) Interpolated
•External
•Electronic Gearing (alone or superposed with another motion mode)
•Electronic Camming
•Homing
•Contouring
•Test
•Linear Interpolation
•Vector Mode

and control their execution via a set of Motor Commands.

Remark: The Linear Interpolation and Vector Mode are coordinated motion modes available in applications developed for Technosoft Motion Controller.

 

•Program flow control. In the TML you can control the program execution in 3 ways:
•By setting an event to be monitored and waiting the event occurrence
•Through jumps and TML function calls
•Through the TML interrupts which can be triggered in certain conditions

 

•I/O handling

Firmware FAxx

•General-purpose I/O
•Special I/O: enable, capture and limit switch inputs

       Firmware FBxx

•General-purpose I/O
•Special I/O MC3: enable, capture and limit switch inputs

 

•Assignment and data transfer
•Setup 16 bit variable
•Setup 32 bit variable

 

•Arithmetic and logic manipulation

 

•Multi axis control
•Axis identification
•Axis synchronization
•Data transfer between axes
•Remote control

 

•Monitoring. You can check the motion progress as well as the drive/motor status via
•Position Triggers
•Status Register
•Error Register
•Messages sent to the host

 

•Slaves Management. From the  motion controller application you can perform:
•Slaves Initialization
•Program events on slave axes and wait for their occurrence
•Homing and Function Calls from slave axes
•Slave Error Handling

 

•Miscellaneous including:
•Declare user variable
•Reset FAULT status
•Save actual setup data from RAM into EEPROM in the setup table
•Change the CAN bus and serial RS232 / RS485 communication settings

 

See also:

Basic Concepts