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TML Registers |
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There are 3 categories of TML registers:
The configuration registers contain essential configuration information like motor and sensors type, or basic operation settings like PWM mode, motor start method, etc. The configuration registers must be set up during the setup part before the ENDINIT instruction The command registers hold configuration settings that may be changed during motion. These settings refer to the activation/deactivation of software protections, to the use of TML interrupts and to communication options. The status registers provide information about drive/motor condition: errors and protections triggered, communication, active motion mode and control loops, TML interrupts. The status registers can be used to detect events and to make decisions in a TML program. Configuration registers (R/W): ACR – Auxiliary Control Register. Defines extra settings like: the configuration for automatic start and the external reference, operation options for the S-curve and the electronic camming modes. OSR – Operating Settings Register. Defines some specific operating settings regarding motor control and data acquisition SCR – System Configuration Register. Defines the basic application configuration regarding the motor type and the feedback sensors used UPGRADE – Upgrade Register. Defines new options and extended features which are activated when their corresponding bits are set to 1 Command registers (R/W): CCR – Communication Control Register. Contains settings for the SPI link with the EEPROM ICR – Interrupt Control Register. Enables/disables TML interrupts MCR – Motion Command Register. Configures the motion modes: reference mode, active control loops, positioning type - absolute or relative, etc. PCR.7-0 – Protections Control Register. Activates different drive/motor protections like: over-current, I2t drive and motor, over- and under-voltage and over-temperature. Status registers (RO): AAR – Axis Address Register. Contains the Axis ID and the group ID of the drive/motor. CBR – CAN Baud rate Register. Contains the current settings for CANbus baud-rate. CER – Communication Error Register. Contains error flags for the communication channels. CSR – Communication Status Register. Contains status flags for the communication channels. ISR – Interrupt Status Register. Contains interrupt flags set by the TML interrupt conditions. MER – Motion Error Register. Groups all the errors conditions. MSR – Motion Status Register. Gives indications about the motion status and some specific events like: control error condition, position wrap-around, limit switches and captures triggered by programmed transitions, etc. PCR.14-8 – Protections Control Register. Contains flags set by the protections set in PCR.7-0. SRL – Status Register Low. Low part of a 32-bit register grouping together all the key status information concerning the drive/motor SRH – Status Register High. High part of a 32-bit register grouping together all the key status information concerning the drive/motor SSR – Slave Status Register. Groups initialization information related to slave axes commanded by the motion controller The TML registers are treated like any other TML parameter or variable in the TML program. The configuration and command registers may be read or written. The status registers may only be read. Remark: The setup tools set automatically the configuration and command registers. The most important status information is grouped in 2 registers: MER - the Motion Error Register and SRL, SRH – the Status Register Low and High part. They have been specifically designed to provide you all the key information about the drive/motor status.
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