TMLCAN. CANopen. EtherCAT

Technosoft products with CAN interface can operate in 2 modes: TMLCAN and CANopen.

When the TMLCAN mode is selected, Technosoft drives and motors act as intelligent drives & motors and conform to the Technosoft protocol for exchanging TML commands via CAN-bus. When the TMLCAN protocol is used, it is not mandatory to have a master. Any drive can be set to operate stand-alone, and may play the role of a master to coordinate both network communications / synchronization and the motion application through TML commands sent directly to the other drives.

When the CANopen mode is selected, Technosoft drives and motors behave as standard CANopen devices that conform to CiA 301, 305 and 402 profiles. In this mode, a CANopen master is needed for the application control. The drives/motors can still perform complex motion functions, written in TML and stored in their EEPROM memory, with the CANopen master having the option to call these functions. Using this decentralized approach, where the CANopen master calls functions to be executed and then waits for their completion confirmation, the overall computation and the communications needs can be substantially reduced, leading to better, more cost-effective solutions.

On most products of the new iPOS and iMOT lines, both TMLCAN and CANopen options are present. Through a hardware switch, either one or the other is activated after power-on.

Technosoft products with an EtherCAT interface operate as standard EtherCAT devices that conform to the CAN application protocol over EtherCAT (CoE). As with CANopen versions, Technosoft drives/motors can still perform complex motion functions, written in TML and stored in their EEPROM memory, so that the EtherCAT master has the option of calling these functions.


TMLCAN Communications Protocol

TMLCAN is Technosoft’s protocol for CAN-bus communications.

The TMLCAN protocol is based on CAN2.0B and encapsulates TML instructions. Technosoft drives and motors using TMLCAN act as intelligent drives/motors, exploiting the capabilities of their embedded motion controller to the maximum. Any drive or motor can be set to operate stand-alone; or it may play the role of a master, to coordinate both network communications / synchronization and motion applications, via TML commands sent directly to the other drives. As a result, in many applications using CAN-bus as fieldbus and the TMLCAN protocol, the central unit can be either completely eliminated or done using a less powerful and cost-effective unit.

In order to facilitate TMLCAN implementation at master’s level, a series of TML_LIB motion libraries for PC or PLC are available.

A detailed description of the TMLCAN protocol 

 

 

 

 

 

 

 

 

 

 

 

 

   

 

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