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MotionChip II - OEM International AB

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1. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 1 0 0 0 0 TypeMem 0 0 amp VAR16S amp VAR16D VAR16D TypeMem value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 0 1 0 1 0 TypeMem 0 0 amp VAR16D value16 VAR16D TypeMem VAR16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 0 1 0 1 1 TypeMem 0 0 amp VAR16D amp VAR16S VAR16D TypeMem value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 0 0 0 1 0 TypeMem 0 0 amp VAR16D value16 VAR16D TypeMem VAR16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 0 0 0 1 1 TypeMem 0 0 amp VAR16D amp VAR16S VAR32D L value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 0 0 0 9LSBs of amp VAR32D value16 VAR32D L VAR16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 1 0 0 9LSBs of amp VAR32D amp VAR16S VAR32D H value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 0 0 0 9LSBs of amp VAR32D 1 value16 VAR32D H VAR16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Technosoft 2006 MotionChip Il TML Programming
2. Name IRU Set event when the reference is smaller than a given value Event group Syntax IRU value32 if ReferenceUnder value32 IRU VAR32 if ReferenceUnder VAR32 Operands VAR32 long variable value32 32 bit long immediate value Type TML program On line X X Binary code IRU value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 1 1 1 0 LOWORD value32 HIWORD value32 IRU VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 1 1 1 0 amp VAR32 Description Program the detection of the event when the reference value is smaller than the specified value An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs The reference value can be e a position reference e aspeed reference e atorque reference e avoltage reference Execution Activate the setting of an event when the reference value is lt value32 or VAR32 respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Technosoft 2006 MotionChip Il TML Programming Examples a In case of a position reference CACC 1 5 CSPD 20 CPOS 100000 CPR MODE PP3 UPD CSPD 40 RU 20000 UPD b In
3. Syntax Operands Type TML program On line X Binary code 15 14 13 12 11 10 9 8 7 6 4 3 2 1 0 1 0 0 1 0 0 0 0 0 0 0 TypeMem 0 0 Destination Address 16 bit value Description The instructions request via a communication channel from a remote drive the value contained in the memory location s with address specified directly in the code The address can be in data memory program memory or SPI memory TypeMem DM 01 PM_ 00 SPI 10 Execution Request from the remote drive the remote drive sends the value requested Technosoft 2006 164 MotionChip Il TML Programming Name Get data from memory 16 bit 32 bit with indirect addressing On line group Syntax Operands Type TML program On line X Binary code 15 14 13 12 11 10 9 8 7 6 4 3 2 1 0 1 0 0 1 0 0 0 0 1 0 0 TypeMem 0 0 Destination Address LOWORD value32 HIWORD value32 Description The instructions request via a communication channel from a remote drive the value contained in the memory location s with address specified in VAR16 variable The address contained in VAR16 can be in data memory program memory or SPI memory TypeMem DM 01 PM 00 SPI 10 Execution Request from the remote drive the remote drive sends the req
4. Motion mode group Syntax MODE GS0 Set axis in MODE Gear Slave 0 MODE GS1 Set axis in MODE Gear Slave 1 T MODE GS2 Set axis in MODE Gear Slave 2 S MODE GS3 Set axis in MODE Gear Slave 3 S T Operands Type TML program On line X X Binary code MODE GSO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 MODE GS1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 0 1 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 0 1 0 1 MODE GS2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 MODE GS3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 1 1 1 1 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 0 1 Description MODE GS0 GS1 GS2 GS3 instruction set the axis to operate in the slave gear mode In this mode the reference values must be sent from the master and stored into the variable MREF Multiplied with the parameter GEAR these values will be used as position reference for the axis Technosoft 2006 225 MotionChip Il TML Programming Execution Example See Motion Programming chapter for details about gearing reference parameters and implementation Depending on the selected option
5. 0 0 0 1 0 0 9LSBs of amp VAR32D 1 amp VAR16S Description This command allows you to generate assignment TML instruction for a specified 16 bit variable All possible 16 bit assignment instruction forms are covered Execution destination variable source value TypeMem DM 01 PM 00 SPI 10 Example1 int Varl Labell Vari Labell Before instruction After instruction Label1 0x1234 Label1 0x1234 Var1 x Var1 0x1234 Example2 int Varl vari 26438 Before instruction After instruction Var1 x Var1 26438 Example3 int Varl Var2 Var2 Varl Before instruction After instruction Var2 0x56AB Var2 0x56AB Vari Vari 0x56AB Example4 int Vari long Var3 Varl Var3 L Before instruction After instruction Var3 0x56ABCD98 Var3 0x56ABCD98 Var1 x Var1 0xCD98 Example5 int Varl Technosoft 2006 139 MotionChip Il TML Programming long Var3 Varl Var3 H Before instruction Var3 0x56ABCD98 Var1 x Example6 int Varl Varl dm 3321 Before instruction Var1 x Example7 int Varl Var2 Vari dm Var2 Before instruction Var1 0x0A01 Var2 X Example8 int Varl pVar2 Varl pVar2 dm Before instruction pVar2 Ox0A01 Data memory 0x0A01 0x1234 Var1 x Example9 int Varl pVar2 vari pVar2 dm Before instruction pVar2 Ox0A01 Data memory 0x0A01 0x1234 Var1 x E
6. Name ENDINIT End of the initialization part of a TML program Configuration and command group Syntax ENDINIT END of INITialization Operands Type TML program On line X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 Description The ENDINIT instruction will indicate the end of the initialization part of the TML program This instruction must be preceded by all the initializations TML instructions needed to setup the motion system configuration structure and parameters When executed this instruction uses these parameters and settings in order to setup the operating environment of the motion system real time sampling periods PWM parameters sensor related parameters etc The following settings must be done before executing the ENDINIT instruction Category Name Remarks Registers SCR OSR Parameters PWMPER DBT CLPER SLPER Remarks 1 Onlyone ENDINIT instruction may be executed in a TML program 2 The ENDINIT instruction activates the real time interrupts and the measurement from A D channels but no PWM outputs or controllers Use the AXISON command in order to activate them too The AXISON command must be executed after the ENDINIT command Execution Technosoft 2006 End the initialization part of the TML program 209 MotionChip Il TML Programming Name ENIO Enable input bit port I O group Syntax
7. Apart from the Axis ID each drive has also a group ID The group ID represents a way to identify a group of drives for a multicast transmission Each drive can be programmed to be member of one or several of the 8 possible groups When a TML command is sent to a group all the axes members of this group will receive the command For example if the drive is member of group 1 and group 3 he will receive all the messages that in the group ID include group 1 and group 3 This feature allows a host to send a command simultaneously to several axes for example to start or stop the axes motion in the same time The group ID is like the axis ID an 8 bit value A TML command can be sent to 8 different groups Each group is defined as having one of the 8 bits of the group ID value set to 1 see Table 3 2 Technosoft 2006 87 MotionChip Il TML Programming Table 3 2 Definition of the groups Group No Group ID value 0000 0001b 0000 0010b 0000 0100b 0000 1000b 0001 0000b 0010 0000b 64 0100 0000b 128 1000 0000b Ne Ne Ne _ Ne Ne _ The group ID of an axis can have any value between 0 and 255 If for example the group ID is 11 1011b this means that the axis will receive all messages sent to groups 1 2 and 4 You can set a drive to be member of one group using the TML instruction GROUPID followed by an integer value between 1 and 8 You can add remove a
8. I O group Syntax ENLSN1 Enable Limit Switch Negative 0 gt 1 Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 Description After the execution of this instruction the DSP will detect the first transition from 0 to 1 on the negative limit switch input In this case the following happens e the update event and the wait event bits of the MSR register are set if a negative limit switch triggered LSN instruction was executed prior the occurrence of the transition e if an update on event was programmed a motion update is performed e the corresponding status bit in the MSR register Bit 7 is set e the corresponding interrupt bit in the ISR register Bit 7 is set and will determine the execution of the associated interrupt service routine if the corresponding mask bit from the ICR register is set e the negative limit switch pin is reprogrammed in the disabled mode and can be used as an input pin usable to get the status of the limit switch signal Use the DISLSN instruction to disable this function Use the LSN variable in order to examine the status of the negative limit switch pin Execution Enable rising edge front detection on negative limit switch Example CACC 1 5 Set acceleration command CSPD
9. Type TML program On line X X Binary code IN n 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 1 1 0 0 0 0 1 1 0 1 1 0 1 PxDATDIR Bit_mask IN n 1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 0 1 1 0 1 1 0 1 0 PxDATDIR Bit_ mask Description Program the detection of the event once the data read from input bit port n becomes 0 respectively 1 An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when the data read from input bit port n becomes 0 IN n 0 or 1 IN n 1 respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 1 5 Acceleration command for speed profile counts sampling CSPD 20 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate CSPD 40 New speed command counts sampling IN 38 1 Set event if INput 38 is high UPD Update on event Technosoft 2006 115 MotionChip Il TML Programming PxDAT amp Bit_mask for IN n 0 and IN n 1 PxDATDIR Bit_mask 0x7098 0x0001 0x7098 0x0002 0x7098 0x0004 0x7098 0x0008 0x7098 0x0010 0x7098 0x0020 0x7098 0x0040 0x7098 0x0080 Ox709A 0x0001 Ox709A 0x0002
10. Name GOTO Jump to a TML address Decision group Syntax GOTO Label Unconditional GOTO to label GOTO Label VAR16 Flag GOTO if VAR16 Flag 0 GOTO Label VAR32 Flag GOTO if VAR32 Flag 0 Operands Label 16 bit program memory address VAR16 integer variable VAR32 long variable Flag one of I gt gt lt lt relational factors Type TML program On line X X Binary code GOTO Label 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 amp Label GOTO Label VAR16 Flag 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 1 0 0 Flag 0 amp VAR16 amp Label GOTO Label VAR32 Flag 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 1 0 1 Flag 0 amp VAR32 amp Label Description This instruction allows the jump to a TML instruction located at the address Label When a conditional GOTO instruction is encountered the condition is checked and if it is true i e the tested variable is in the specified relation with 0 a jump to the specified label is executed If condition is false the next TML instruction is executed Execution Jumps to a TML instruction located at the address Label Unconditional jump Label gt IP Conditional jump If VarXX Flag 0 then Label gt IP Technosoft 2006 219 MotionChip Il TML P
11. 39 0x7094 OxFFFF 0x0000 Technosoft 2006 197 MotionChip Il TML Programming Name DISLSN Disable negative limit switch I O group Syntax DISLSN DISable Limit Switch Negative Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Description After the execution of this instruction the negative limit switch is deactivated Use the ENLSNO or ENLSN1 instructions to re enable the negative limit switch detection In the disabled mode the negative limit switch pin is re programmed and can be used as an input pin usable to get the status of the limit switch signal Use the LSN variable in order to examine the status of this pin Execution Disable negative limit switch Technosoft 2006 198 MotionChip Il TML Programming Name DISLSP Disable positive limit switch I O group Syntax DISLSP DISable Limit Switch Positive Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
12. Execution Sets the position profile motion mode reference type Four cases are possible MODE Position controller Speed controller Current controller PPO y PP1 y y PP2 y V PP3 N V V Example CACC 0 5 Acceleration command for position profile counts sampling CSPD 20 Speed command for position profile counts sampling CPOS 100000 Position command counts CPA Position command is Absolute MODE PP3 Set Position Profile Mode 3 TUM1 Set Target Update Mode 1 UPD Update immediate Technosoft 2006 232 MotionChip Il TML Programming Name MODE PPD Position pulse amp direction motion mode Motion mode group Syntax MODE PPDO MODE Position External 0 MODE PPD1 MODE Position External 1 T MODE PPD2 MODE Position External 2 S MODE PPD3 MODE Position External 3 S T Operands Type TML program On line X X Binary code MODE PPDO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 MODE PPD1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 0 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 MODE PPD2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1
13. Description After the execution of this instruction the positive limit switch is deactivated Use the ENLSPO or ENLSP1 instructions to re enable the positive limit switch detection In the disabled mode the positive limit switch pin is re programmed and can be used as an input pin usable to get the status of the limit switch signal Use the LSP variable in order to examine the status of this pin Execution Disable positive limit switch Technosoft 2006 199 MotionChip Il TML Programming Name EINT Enable TML interrupts Configuration and command group Syntax EINT Enable TML INTerrupts Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 Description After the execution of this instruction the TML interrupts will be enabled If an interrupt flag is set by a specific event and the corresponding interrupt enable bit from the ICR register is active the corresponding TML interrupt service routine will be called and executed The TML interrupts can be de activated using the DINT instruction Execution Enable TML interrupts Technosoft 2006 200 MotionChip Il TML Programming Name EN2CAPIO Enable index2 capture on falling edge front I O group Syntax EN2CAPIO Enable 2ndCAPtur
14. MotionChip Il TML Programming Var5 L OxAA55 Before instruction 0x12344321 Varl Before instruction 0x7711 0x12344321 Varl Before instruction Var5 Example16 int Varl long Vars Var5 H Var1 Var5 Example17 int Varl long Var5 Var5 L Var1 Var5 Technosoft 2006 0x7711 0x12344321 142 After instruction Varb 0x1234AA55 After instruction Var1 0x7711 Var5 0x77114321 After instruction Var1 0x7711 Var5 0x12347711 MotionChip Il TML Programming Name Assignment instruction for 16 bits TML variables IO group Syntax VAR16D IN n read input n into VAR16D VAR16D INPUT1 ANDm read inputs IN 25 to IN 32 into VAR16D with ANDm VAR16D INPUT2 ANDm read input IN 33 to IN 39 into VAR16D with ANDm VAR16D INPORT OxF read IN 36 to IN 39 into VAR16D with OxF as ANDm Operands Var16D integer variable IN n the source is input bit port number n 0 lt n lt 39 INPUT1 the source is 8 input lines status of IO inputs 25 to 32 INPUT2 the source is 8 input lines status of IO inputs 33 to 39 ANDm a 16 bit mask used to indicate which bits are read from the input ports INPORT the s
15. Technosoft 2006 136 MotionChip Il TML Programming Binary code VAR16D label 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 0 0 0 9LSBs of amp VAR16D amp label VAR16D value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 0 0 0 9LSBs of amp VAR16D value16 VAR16D VAR16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 1 0 0 9LSBs of amp VAR16D amp VAR16S VAR16D VAR32S L 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 1 0 0 9LSBs of amp VAR16D amp VAR32S VAR16D VAR32S H 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 1 0 0 9LSBs of amp VAR16D amp VAR32S 1 VAR16D dm value16 15 14 13 12 11 10 9 8 7 6 5 4 3 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 amp VAR16D value16 VAR16D dm VAR16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 amp VAR16D amp VAR16S VAR16D VAR16S TypeMem 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 1 1 0 0 0 TypeMem 0 0 amp VAR16S amp VAR16D VAR16D VAR16S TypeMem Technosoft 2006 137 MotionChip Il TML Programming
16. Consequently the CAN message for kpp 0x1234 is Value Description Identifier 0400A05E CAN Message Identifier Byte 0 34 low byte of Data word 1 1234h Byte 1 12 high byte of Data word 1 1234h Figure 3 11 CAN message contents when TML instruction kpp 0x1234 is sent Technosoft 2006 95 MotionChip Il TML Programming Example 2 A host is directly connected on a CAN bus network of Technosoft drives and wants to get the value of the position error from the drive with the axis ID 5 The host ID 3 The position error is a 16 bit TML variable named POSERR situated at the memory address 0x022A The code of the TML instruction for Give Me Data is Operation Code B004h Data word 1 0031h Data word 2 022Ah The CAN Message Identifier for request command Give Me Data have the following content 28 0 Operation Code Operation code 7MSB of HE poe ololo ui 9LSB of B004h B004h 1011000 0 00000101 0 0 0 0 000000100 1600A004h Consequently the CAN message for the TML instruction POSERR e g Give Me Data of POSERR is Value Description Identifier 1600A004 CAN Message Identifier Byte 0 low byte of Data word 1 0031h Byte 1 high byte of Data word 1 0031h Byte 2 low byte of Data word 2 022Ah Byte 3 high byte of Data word 2 022Ah Figure 3 12 CAN message contents when
17. Data word 1 low byte Data word 1 high byte Data word 2 low byte Data word 2 high byte Data word 3 low byte Data word 3 high byte Data word 4 low byte Data word 4 high byte Figure 3 10 CAN message structure Where G is the group bit and H is the host bit The CAN bus communication offers the possibility to work on a semi duplex network like in a full duplex one The CAN controller automatically solves the conflicts that occur while two axes try to transmit messages in the same time In an RS 485 network such an event usually corrupts both messages while in a CAN bus the higher priority message always wins The lower priority message is automatically sent after the transmission of the first message ends Hence in a CAN bus network all the limitations mentioned for RS 485 are eliminated Message types on CAN bus communication The CAN bus communication protocol is based on two types of messages e Type A Messages that don t require an answer a return message In this category enter for example the messages containing commands for parameter settings commands that start or stop motion execution etc e Type B Messages that require an answer In this category enter the messages containing commands that ask to return data for example the value of TML parameters registers or variables Technosoft 2006 94 MotionChip Il TML Programming Th
18. Name EXTREF Set external reference type Configuration and command group Syntax EXTREF value Set EXTernal REFerence type Operands value two bits value Type TML program On line X X Binary code EXTREF 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 0 0 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 EXTREF 1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 EXTREF 2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 Description This instruction sets the type of external references depending on the parameter value e value 0 external reference read from EREF system variable integer or long variable updated on line e value 1 external reference read from REFERENCE input e value 2 external reference read from second encoder input Execution Sets the external reference type based on value s value 0 1 or 2 Example EXTREF 1 the reference will be read from the analogue reference A D channel REFERENCE input Technosoft 2006 218 MotionChip Il TML Programming
19. DISLSP Deactivate LSP input capability to detect transitions DISLSN Deactivate LSN input capability to detect transitions Remark The main task of the limit switches is to protect against accidental moves outside the working area by blocking moves in the wrong direction For their main task the limit switches are active on level i e as long as a limit switch is activated it will stop any move in the wrong Technosoft 2006 58 MotionChip Il TML Programming direction This task is always performed independently of the fact if the limit switch is enabled or not to detect transitions General purpose digital inputs You can program an event on any general purpose digital input The event can be set when the input goes high after a low to high transition or low after a high to low transition In order to set an event when the digital input IN n goes high use 1IN n 1 Ilset event when input n goes high In order to set an event when the digital input IN n goes low use IN n 0 set event when input goes low where number n is the input number 2 2 1 7 Functionofa variable value You can set an event function of the value of a selected variable The selected variable for this event can be any 32 bit TML variable The monitored events are e When variable var_name is equal or over a 32 bit value or the value of variable IVU var_name value Il set event when var_name is equal or under value IVU var_name varia
20. 20 Set speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate ENLSN1 Negative Limit Switch triggers rising edge CSPD 20 Set new speed command counts sampling LSN Set event if Negative LimitSwitch is reached UPD Update on event Technosoft 2006 213 MotionChip II TML Programming Name ENLSPO Enable falling edge front detection on positive limit switch I O group Syntax ENLSPO Enable Limit Switch Positive 1 gt 0 Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 Description After the execution of this instruction the DSP will detect the first transition from 1 to 0 on the positive limit switch input In this case the following happens e The update event and the wait event bits of the MSR register are set if a positive limit switch triggered ILSP instruction was executed prior the occurrence of the transition e If an update on event was programmed a motion update is performed e The corresponding status bit in the MSR register Bit 6 is set e The corresponding interrupt bit in the ISR register Bit 6 is set and will determine the execution of the associated interrupt service routine if the correspond
21. Controlled Loops Motion Modes Position Speed Torque Speed External Torque External Slow Torque External Fast Voltage External Slow Voltage External Fast Remarks e The selection of one of the above position external modes or speed external modes must match with the setup data like in the case of position and speed profiles see par 2 1 1 and 2 1 2 for details e Asin most applications the current torque control is needed the IPM Motion Studio does not cover the setup options where current loop is not closed Therefore using IPM Motion Studio you can choose for position external only 2 options position loop with speed loop and current loop MODE PE3 and position loop without speed loop and with current loop MODE PE1 and for speed external only the option with both speed and current loop closed MODE SE1 Related TML Parameters Technosoft 2006 31 MotionChip Il TML Programming EREF 32 bit TML parameter needed only for the external modes with reference set on line via a communication channel EREF is where the external device must write the reference Depending on the reference type EREF is seen as a 32 bit long value representing the position reference in position units for the external position modes 32 bit fixed value representing the speed reference in speed units for the external speed modes 16 bit integer value read fr
22. Examples a In case of a position reference CACC 1 5 CSPD 20 CPOS 100000 CPA MODE PP3 UPD CSPD 40 IRO 20000 UPD b In case of a speed reference CACC 0 005 CSPD 20 MODE SP1 UPD CACC 045 IRO 10 UPD c In case of a torque reference MODE i REFTST 3968 RINCTST 10 UPD CACC 0 005 CSPD 20 MODE SP1 RO 2500 UPD Technosoft 2006 Acceleration command for position profile counts sampling Speed command for position profile counts sampling Position command counts Position command is Absolute Set Position Profile Mode 3 Update immediate New speed command for position profile counts sampling Set event if Reference gt 20000 counts position reference Update on event Acceleration command for speed profile counts sampling Speed command counts sampling Set Speed Profile Mode 1 Update immediate New acceleration command for speed profile counts sampling Set event if Reference gt 10 counts sampling speed referenc Update on event Set Torque Test Mode Reference saturation value in test mode Reference increment value in test mode Update immediate Acceleration command for speed profile counts sampling Speed command counts sampling Set Speed Profile Mode 1 Set event if Reference gt 2500 bits torque
23. The reference will represent a position reference value in position control structures The reference will be generated in the slow control loop position speed loop See Motion Programming chapter for details about external reference parameters and implementation Depending on the selected option PEO PE1 PE2 or PE3 some of the internal control loops speed and current are activated or not depending on the system structure Note that for all the control loops needed to implement the selected mode position speed current one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD Name MODE PP Position profile motion mode Motion mode group Syntax MODE PPO MODE Position Profile 0 MODE PP1 MODE Position Profile 1 T MODE PP2 MODE Position Profile 2 S MODE PP3 MODE Position Profile 3 S T Operands Type TML program On line X X Binary code MODE PPO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 MODE PP1 15 14 13 12 11 10 9 8
24. fette MPARZIET E CHNOS OFT TML Programming User Manual Technosoft 2006 TECHNOSOFT MotionChip Il TML Programming P091 055 MCII TML UM 0806 Technosoft S A Buchaux 38 CH 2022 BEVAIX Switzerland Tel 41 0 32 732 5500 Fax 41 0 32 732 5504 contact technosoftmotion com www technosoftmotion com Read This First Whilst Technosoft believes that the information and guidance given in this manual is correct all parties must rely upon their own skill and judgment when making use of it Technosoft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work whether such error or omission is the result of negligence or any other cause Any and all such liability is disclaimed All rights reserved No part or parts of this document may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information retrieval system without permission in writing from Technosoft S A About This Manual This book presents the Technosoft Motion Language in short TML and how to use it for the programming of drives built around MotionChip II The book includes the following information TML basic concepts Motion programming Functional description of the TML instructions Communication channels and protocols Detailed description of each TML instruction including syntax binary code and examples Scope of Thi
25. int V ri Varl lt lt 4 Before instruction After instruction Var1 0x1256 Var1 0x2560 Technosoft 2006 178 MotionChip Il TML Programming Example2 long Varl Varl lt lt 12 Before instruction After instruction Var 0x1256ABAB Var Ox6AABAB000 Example3 PROD lt lt 4 Before instruction After instruction PROD 0x12560000ABCD PROD 0x2560000ABCDO Technosoft 2006 179 MotionChip Il TML Programming Name ADDGRID Add group ID Multiple axis group Syntax ADDGRID value16 Add value16 to GROUP ID ADDGRID VAR16 Add value of VAR16 to GROUP ID Operands value 16 16 bit integer immediate value VART6 integer variable Type TML program On line X X Binary code ADDGRID value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 Value16 ADDGRID VAR16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 amp VAR16 Description In multiple axis structures this command allows one to add a new group ID to the local axis After the execution of this command the new group ID value is recognized by the axis and is used by the communication drivers in order to accept or reject messages addressed to groups of axes Only the lower 8 bits of the value16 or VAR16 parameters are used for group coding Each bit
26. the user defined pointer variable user_var user_var dm 2000 write 2000 in the data memory address pointed by user_var i e in the CPOS parameter Remark direct addressing may be used with all TML data having addresses between 0x200 and Ox3FF This covers most of the TML data including the user defined variables There are however some TML data with extended addresses placed outside this range typically between 0x800 and Ox9FF These variables shall be addressed either using the indirect addressing presented above or by using another direct addressing mode specifically foreseen for writing values in the variables with extended addresses e direct with extended address using the TML data name Example CPOS dm 2000 write 2000 in CPOS using direct mode with extended address In the TML instructions the operands variables are grouped into 2 categories e V16 In this category enter all the 16 bit data from all the categories TML registers TML parameters TML variables and user parameters From the execution point of view the TML makes no difference between them e V32 In this category enter all the 32 bit data either long or fixed from all the categories TML registers TML parameters TML variables and user parameters From the execution point of view the TML makes no difference between them Remarks e It is possible to address only the high or low part of a 32 bit data using the suffix H or L after the variable n
27. WAIT until event occurs AXISOFF deactivate the control IRT 20000 Set event if RelativeTime gt 20000 WAIT WAIT until event occurs GOTO loop restart the motion END end of program Technosoft 2006 182 MotionChip Il TML Programming Name AXISON Set the axis ON Configuration and command group Syntax AXISON AXIS is ON activate control Operands Type TML program On line X X Binary code 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 Description This command activates the control loops current speed and position and the reference generator module The PWM outputs are also activated Execution Sets the axis ON and activates the control Example BEGIN include dc_epc ini includes the setup file ENDINIT end of setup file Loop AXISON start program MODE SP1 work mode CSPD 20 setup reference speed UPD update RT 1000 Set event if RelativeTime gt 1000 WAIT WAIT until event occurs AXISOFF deactivate the control IRT 20000 Set event if RelativeTime gt 20000 WAIT WAIT until event occurs GOTO loop restart the motion END end of program Technosoft 2006 183 MotionChip II TML Programming Name BEGIN Begin a TML program sequence Miscellan
28. When a drive should work as slave for electronic gearing the following settings must be checked or performed before enabling the electronic gearing slave mode 1 Set gear ratio This is specified via 3 TML variables GEAR GEARSLAVE and GEARMASTER GEARSLAVE and GEARMASTER represent the numerator and denominator of the Slave Master ratio GEARSLAVE is a signed integer while GEARMASTER is an unsigned integer GEARSLAVE sign indicates the direction of movement positive same as the master negative reversed to the master GEAR is a fixed value containing the result of the gear ratio i e the result of the division GEARSLAVE GEARMASTER In order to eliminate any cumulative errors the electronic gearing slave mode includes an automatic compensation of the round off errors when the gear ratio has an irrational value like Slave 1 Master 3 giving a ratio of 1 3 0 33333 which can t be represented exactly Example in order to implement a gear ratio of 2 3 you need to set GEARSLAVE 2 Il gear ratio numerator GEARMASTER 3 gear ratio denominator GEAR 0 66667 Il gear ratio value 2 Enable master position calculation from 2nd encoder inputs if the master position is provided via its encoder signals This operation is done with TML instruction EXTREF 2 The initial value of the master position is set by default to 0 It may be changed to
29. val32 Subtract val32 from V32 V32D V32S Subtract V32S from V32D V16 val16 lt lt N PROD V16 val16 gt gt N V16 val16 gt gt N PROD V16 val16 gt gt N V16A V16B lt lt N PROD V16A V16B lt lt N V16A V16B gt gt N PROD V16A V16B gt gt N V32 V16 lt lt N PROD V32 V16 lt lt N V32 V16 gt gt N PROD V32 V16 gt gt N V32 val16 lt lt N PROD V32 val16 lt lt N V32 val16 gt gt N PROD V32 val16 gt gt N PROD lt lt N Left shift PROD by N V16 lt lt N Left shift V16 by N V32 lt lt N Left shift V32 by N PROD gt gt N Right shift PROD by N V16 gt gt N Right shift V16 by N V32 gt gt N Right shift V32 by N SRB V16 ANDm ORm Set Reset Bits of a V16 SRBL V16 ANDm ORm Table 4 7 Configuration and Command group Set Reset Bits of a V16 la Mnemonic Description AXISOFF AXISOFF AXIS is OFF deactivate control AXISON AXISON AXIS is ON activate control CPA CPA Command Position is Absolute CPR CPR Command Position is Relative DINT DINT Disable TML Interrupts EINT EINT Enable TML Interrupts Technosoft 2006 103 MotionChip Il TML Programming ENDINIT ENDINIT END of Initialization E
30. 0 13 12 11 10 9 8 7 6 5 4 3 2 1 1 1 0 0 0 0 0 0 0 0 0 1 0 1 Expeditor AxisID Data memory address from where to read data requested amp VAR32 Technosoft 2006 108 MotionChip Il TML Programming GiveMeData 16 bit from SRAM TML program memory 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 Expeditor AxisID SRAM program memory address from where to read data requested GiveMeData 32 bit from SRAM TML program memory 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 Expeditor AxisID SRAM program memory address from where to read data requested GiveMeData 16 bit from EEPROM TML program memory 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 1 0 1 1 0 0 0 0 0 0 0 0 1 0 0 Expeditor AxisID EEPROM program memory address from where to read data requested GiveMeData 32 bit from EEPROM TML program memory 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 1 0 1 1 0 0 0 0 0 0 0 0 1 0 0 Expeditor AxisID EEPROM program memory address from where to read data requested TakeData requested with GiveMeData 16 bit data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 1 0 1 1 0 1 0 0 0 0 0 0 0 1 0 Expeditor
31. 4 Before instruction After instruction Var1 0x1256 Var1 0x0125 Technosoft 2006 176 MotionChip Il TML Programming Example2 long Var1 Var1 gt gt 12 Before instruction After instruction Var1 0x1256ABAB Var1 0x0001256A Example3 PROD gt gt 4 Before instruction After instruction PROD 0x12560000ABCD PROD 0x012560000ABC Technosoft 2006 177 MotionChip Il TML Programming Name lt lt Shift left Arithmetic amp Logic group Syntax VAR16 lt lt N shift VAR76 left by N VAR32 lt lt N shift VAR32 left by N PROD lt lt N shift PROD product reg right by N Operands VAR16 integer variable VAR32 long variable PROD product register N shift factor Type TML program On line X X Binary code VAR16 lt lt N 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 0 1 0 0 0 0 0 1 0 N 0 lt N lt 15 amp VAR16 VAR32 lt lt N 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 0 1 0 0 1 0 0 1 0 N 0 lt N lt 15 amp VAR32 PROD lt lt N 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 0 1 0 0 0 1 0 1 0 N 0 lt N lt 15 Description Left shift the source operand with the specified number of bits N Fill the least Execution Example1 significant bits with 0 Value Value shifted to left with N bits
32. 5 write value 5 in the EEPROM memory location 0x4500 p_var spi vari write var1 value in the EEPROM memory location 0x4500 II p_var 0x4501 p_var 0x8200 II set 0x8200 in pointer variable p_var p_var pm 0x10 write value 0x10 in SRAM program memory location 0x8200 p_var pm vari write var1 value in SRAM program memory location 0x8200 Il p_var 0x8201 0xA00 II set OxAO0 in pointer variable p_var dm 50 Il write value 50 in the SRAM data memory location OxA00 p_var dm vari write var1 value in the SRAM data memory location 0xA00 II p_var 0xA01 Remark When the source is either an immediate value or another TML data and the destination is a TML data the destination address must be between 0x200 and 0x3FF This happens for most of the TML data including all the user defined variables which take addresses between 0x3B0 to Ox3FF There are however a limited number of TML parameters and variables having an extended address situated between 0x800 and Ox9FF For these TML data you should use either indirect addressing via a pointer variable or the following commands that support extended addressing int_var dm 100 write 100 in int_var using extended addressing int_var dm 0x100 Il with 0x100 256 in int_var using extended addressing var_dest dm var_source Il copy value of var_source in var_dest using Il extended addressing 2 4 2 Setup 32 bit variable The TML instructions presented in
33. ENIO n Enable lO n Operands n the input output bit port number 0 lt n lt 39 Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 MCRx ANDen ORen Description After the execution of this instruction the I O bit port n is enabled Use the DISIO n instruction to disable this I O bit port In the enabled mode the associated pin is programmed and can be used as a general purpose I O bit The ENIO n instruction does not change the bit port type input or output By default after reset the bit port is set as an input port Use the SETIO n OUT instruction to change it to an output bit port or alternatively the SETIO n IN to change it to an input bit port Execution Enable the use of the IO n signal as an I O line 0 lt n lt 39 Example ENIO 5 enable port 5 Technosoft 2006 210 MotionChip Il TML Programming MCRx amp AND OR masks for ENIO n n MCRx ANDen ORen MCRx ANDen ORen 20 Ox7092 OxFFEF 0x0000 0x7090 OxFFFE 0x0000 21 0x7092 OxFFDF 0x0000 0x7090 OxFFFD 0x0000 22 0x7092 OxFFBF 0x0000 0x7090 OxFFFB 0x0000 23 0Ox7092 OxFF7F 0x0000 0x7090 OxFFF7 0x0000 24 0x7092 OxFEFF 0x0000 0x7090 OxFFEF 0x0000 2
34. GSO GS1 GS2 or GS3 some of the internal control loops speed and current are activated or not depending on the system structure Note that for all the control loops needed to implement the selected mode position speed current one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD Sets the slave gear mode operation for the axis reference type Four cases are possible MODE Position Speed Current controller controller controller GSO V GS1 V GS2 V GS3 V GEAR 2 00000 GEARMASTER 1 Gearing factor for master axis GEARSLAVE 2 Gearing factor for slave axis EXTREF 0 Set axis as Gear Slave without read master position from 2 Encoder Input EIR 0x081A EIR dm 2000 EIR 0x081B EIR dm 0 MODE GS3 Set as slave position mode 3 UPD Update immediate enable gear mode EFLEVEL OxFFFF Deactivate synchronization Technosoft 2006 226 MotionChip Il TML Programming Name MODE PC Position contouring motion mode Motion mode group Syntax MODE PCO M
35. MODE PE2 MODE Position External 2 S MODE PE3 MODE Position External 3 S T Operands Type TML program On line X X Binary code MODE PEO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 MODE PE1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 0 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 MODE PE2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 1 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 MODE PE3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 Description MODE PEO PE1 PE2 PE3 instruction defines the position control operating in the external reference motion mode In this mode the reference module will use an external reference as previously defined by the EXTREF instruction Technosoft 2006 229 MotionChip Il TML Programming Execution Sets the position external motion mode reference type Four cases are possible MODE Position controller Speed controller Current controller PEO y PE1 NI z J PE2 y PE3 V Example MODE PE3 set position external mode with speed and current loops active TUM1 set target update mode 1 UPD update immediate Technosoft 2006 230 MotionChip Il TML Programming
36. Name Multiplication operation Arithmetic amp Logic group Syntax VAR16 VALUE16 gt gt N PROD VAR16 value16 gt gt N VAR16 VALUE16 lt lt N PROD VAR16 value16 lt lt N VAR16A VAR16B gt gt N PROD VAR16A VAR16B gt gt N VAR16A VAR16B lt lt N PROD VAR16A VAR16B lt lt N VAR32 VALUE16 gt gt N PROD VAR32 value16 gt gt N VAR32 VALUE16 lt lt N PROD VAR32 value16 lt lt N VAR32 VAR16 gt gt N PROD VAR32 VAR16 gt gt N VAR32 VAR16 lt lt N PROD VAR32 VAR16 lt lt N Operands VAR16x integer variable VAR32x long variable value16 16 bit immediate integer value value32 32 bit immediate long value N result shift factor Type TML program On line X X Binary code VAR16 VALUE16 gt gt N 15 14 13 12 11 10 9 8 7 5 4 3 2 1 0 1 0 0 0 1 1 0 0 0 0 0 N OSNs15 amp VAR16 VALUE16 VAR16 VALUE16 lt lt N 15 14 13 12 11 10 9 8 7 5 4 3 2 1 0 1 0 0 0 1 1 0 0 0 1 0 N OSNs15 amp VAR16 VALUE16 VAR16A VAR16B gt gt N 15 14 13 12 11 10 9 8 7 5 4 3 2 1 0 1 0 0 0 1 1 0 0 1 0 0 N OSNs15 amp VAR16A amp VAR16B Technosoft 2006 172 MotionChip Il TML Programming VAR16A VAR16B lt lt N 15 14 13 12 11 10 1 0 0 0 1 1 8 7 6 5 4 3 2 1 0 o i1 o 1 0 N 0 lt N lt 15
37. Remark Most of the TML instructions enter in the category of those that can be sent to another axis or group of axes Programming Examples G1 CPOS 2000 Il send a new CPOS command to all axes from group 1 G1 UPD Il send an UPDate command to all the axes from group 1 Il all axes from group 1 will start to move simultaneously 5 STOP3 Il send an STOP3 command to axis 5 2 7 Miscellaneous commands In this category enter the following TML instructions as OP II No operation BEGIN Il first instruction in the main section of a TML program END marks the end of a TML program SCIBR value change RS 232 RS 485 baudrate Value specifies the new baudrate Il follows 0 9600 1 19200 2 38400 3 56000 4 115200 SPIBR value change SPI baudrate with the EEPROM Value specifies the new Il baudrate as 0 for 1 MHz 2 for 2MHz 3 for 5MHz CANBR value change CANbus baudrate Value specifies the new baudrates as Il 0xF36C for 125 kHz 0x736C for 250 kHz 0x3273 for 500 kHz II 0x412A for 800 kHz and 0x1273 for 1MHz CHECKSUM dm start stop user_var compute the sum modulo 65535 of Il SRAM data memory locations from addresses start to stop CHECKSUM pm start stop user_var compute the sum modulo 65535 of II SRAM TML program memory locations from addresses start to stop CHECKSUM spi start stop user_var compute the sum modulo 65535 of II EEPROM TML program memory locations from add
38. SAP value32 Set Actual Position to value32 SAP VAR32 Set Actual Position to VAR32 Operands value32 32 bit long immediate value VAR32 long variable Type TML program On line X X Binary code SAP value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 LOWORD value32 HIWORD value32 SAP VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 0 0 0 0 9LSBs of amp VAR32 Description Sets the value of variable APOS absolute position with the value value32 or VAR32 Also corrects the reference value so that the difference between the position reference and the actual position before the setting will be preserved after the change of the absolute position value Execution Depending on the target update mode bit If TUM1 is set value32 value32 old reference old APOS gt new APOS value32 gt new reference VAR32 VAR32 old reference old APOS gt new APOS VAR32 gt new reference If TUMO is set value32 value32 old reference old APOS gt new reference value32 gt new APOS VAR32 VAR32 old reference old APOS gt new reference VAR32 gt new APOS Technosoft 2006 266 MotionChip Il TML Programming Example CACC 1 5 CSPD 20 MODE SPl UPD SAP 0 APO 60000 UPD Technosoft 2006 Acceleration command for speed profile counts sampling Speed command counts sampling Set Speed Profile Mode 1 Update immediate Set the actual posit
39. Syntax IAT value32 if AbsoluteTime gt value32 IAT VAR32 if AbsoluteTime gt VAR32 Operands VAR32 long variable value32 32 bit long immediate value Type TML program On line X X Binary code IAT value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 LOWORD value32 HIWORD value32 IAT VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 1 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 amp VAR32 Description Program the detection of the event when the system absolute time is greater than the specified value An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when system absolute time gt value32 OR VAR32 respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 1 5 Acceleration command for speed profile counts sampling CSPD 20 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate CSPD 40 New speed command counts sampling IAT 10000 Set event when absolute time is bigger than 10000 samplings UPD Update on event Technosoft 2006 113 MotionChip Il TML Programming Name I
40. Type TML program On line X X Binary code IRPU value32 15 14 13 12 11 10 9 8 7 6 5 4 3 1 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 1 1 0 1 LOWORD value32 HIWORD value32 IRPU VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 1 1 1 1 amp VAR32 Description Program the detection of the event when the relative position value is smaller than the specified value An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when the relative position value is lt value32 or VAR32 respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 0 5 Set acceleration command CSPD 20 Set speed command CPOS 100000 Position command counts CPR Position command is Relative MODE PP3 Set Position Profile Mode 3 UPD Update immediate CSPD 40 New speed command counts sampling IRPU 60000 Set event when relative position lt 60000 Technosoft 2006 125 MotionChip Il TML Programming UPD Update on event Technosoft 2006 126 MotionChip Il TML Programming Name IRT Set event when relative time is greater than a given value Eve
41. amp VAR16 amp Label CALL Label VAR32 Flag 15 14 13 12 11 10 9 8 7 6 5 4 1 0 1 1 1 0 1 0 1 Flag amp VAR32 amp Label Description This instruction allows the execution of a TML function subroutine A TML function starts with a label and ends with RET instruction The function can contain any TML instruction When a conditional CALL instruction is encountered the condition is checked and if it is true i e the tested variable is in the specified relation with 0 a call of to the specified label is executed If condition is false the next TML instruction is executed Specific sequences can be called from different points of the TML program Use a RET instruction to end the execution of a function and to continue the TML sequence following the CALL instruction Technosoft 2006 185 MotionChip Il TML Programming Execution Calls a TML function subroutine located at the address Label Unconditional call IP gt TOS Label gt IP Conditional call If VarXX Flag 0 then IP gt TOS Label gt IP The label must be an existing label name defined in the TML program a 16 bit program memory address otherwise an error will occur The variable must be an existing TML variable name an integer or long variable defined in the TML program otherwise an error will occur The flag imposes the test condition for the variable var In case of a conditional decision instruction CALL Label VAR16 32
42. amp VARI6A amp VAR16B o o VAR32 VALUE16 gt gt N 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1i o o o 1 1 o 1 0 0 0 0 N 0 lt N lt 15 amp VAR32 VALUE16 VAR32 VALUE16 lt lt N 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 i1 o o0 0 1 1 0 1 0 0 1 0 N 0 lt N lt 15 amp VAR32 VALUE16 VAR32 VAR16 gt gt N 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 o0 o o0 1 1 o0 1 1 0 0 0 N 0 lt N lt 15 amp VAR32 amp VAR16 VAR32 VAR16 lt lt N 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 i1 o 0 0 1 1 0 1 1 0 1 0 N 0 lt N lt 15 amp VAR32 amp VAR16 Description Multiply two values and store the result eventually shifted in the PROD product register of the TML environment Execution PROD register first operand second operand shifted to left or right with a specified number of bits Example1 int Varl long var2 Varl 0x125 Var2 PROD Before instruction After instruction Var1 0x1256 Var1 0x1256 PROD x PROD 0x00000014FC6E Var2 x Var2 0x0014FC6E Technosoft 2006 173 MotionChip Il TML Programming Example2 int Varil long Var2 Varl O0x125 lt lt 12 Var2 PROD H Before instr
43. t answer then there is a serious communication problem and the serial link must be checked When a host sends a type A message through RS 485 it has to e Send the message e Wait the acknowledge OK byte O from the drive only if the message destination was a single drive When a host sends a type B message through RS 485 it has to e Send a message with Give Me Data command e Wait the acknowledge OK byte O from the drive e Wait the response message from the drive which contains the command Take Data Remark it is not possible to send a Give Me Data command to a group of axes Technosoft 2006 93 MotionChip Il TML Programming When the drive returns a Take Data message it doesn t expect to receive an acknowledge byte from the host It is the host task to monitor the communication If the host gets the response message with a wrong checksum it is the host duty to send again the Give Me Data request 3 2 3 CAN bus Communication Protocol CAN bus communication settings and message packaging The Technosoft drives implements the CAN 2 0B protocol that uses 29 bits for the identifier Below you can see how the information to be sent is packed in a CAN bus message CAN message identifier 28 0 Operation Code 7MSB Group bit Axis Group ID 0 0 Host bit Operation code 9LSB CAN message data bytes CAN Message Data Bvte No TML Data Word
44. value16 16 bit immediate integer value value32 32 bit immediate long value Type TML program On line X X Binary code VAR16 value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 o 1 ol o 1 0o0 0 OLSBs of amp VAR16 value16 VAR16D VAR16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 o 1 0 1 0 0 0 9LSBs of amp VAR16D amp VAR16S VAR32 value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 0 1 1 0 9LSBs of amp VAR32 LOWORD value32 HIWORD value32 VAR32D VAR32S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ol1 o 1 o 1 0 OLSBs of amp VAR32D amp VAR32S Description Subtract from the destination variable the value of the source variable or value Store the result in the destination variable Execution destination variable destination variable source variable value Technosoft 2006 170 MotionChip Il TML Programming Example int Varl Var2 Var3 long Var10 Varll Var12 Varl 125 Var3 Var2 Var10 128000 Varl2 Varll Before instruction Vari 1256 Var2 22450 Var3 22500 Var10 1201 Var11 25 Var12 12500 Technosoft 2006 171 After instruction Var1 Var2 Var3 Var10 Var11 Var12 MotionChip Il TML Programming 1131 22450 44950 129201 25 12475
45. write 1 5 0x18000 in the CSPD parameter i e Il 0x8000 at address 0x2A0 and 0x1 at next address 0x2A1 e In an indirect addressing if the pointer variable if followed by sign it is automatically incremented by 1 or 2 depending on the data type 1 for integer 2 for fixed or long data Examples user_var 0x29E write CPOS address in pointer variable user_var user_var dm 1000L write 1000 seen as long in CPOS then increment Il user_var by 2 user_var dm 1000 write 1000 seen as int at address 0x29A 0x29E 2 Il then increment user_var by 1 1 6 1 TML Registers There are 3 categories of TML registers e Configuration registers e Command registers e Status 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 can be changed during motion These settings refer to the activation deactivation of software protections to the use of TML interrupts and to communication options Technosoft 2006 7 MotionChip Il TML Programming The status registers provide information about communication active motion mode and control loops system protections TML interrupts The status registers can be used to detect events and to make decision
46. 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 MODE PPD3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 1 0 0 Description MODE PPDO PPD1 PPD2 PPD3 instruction defines the position control operating in the pulse and direction reference motion mode In this mode the reference module will get the reference values from the specific pulse and direction interface of the DSP Technosoft 2006 233 MotionChip II TML Programming The reference will represent a position reference value in position control structures The reference will be generated in the slow control loop position speed loop See Motion Programming chapter for details about pulse and direction reference parameters and implementation Depending on the selected option PPDO PPD1 PPD2 or PPD3 some of the internal control loops speed and current are activated or not depending on the system structure see below table Note that for all the control loops needed to implement the selected mode position speed current one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD Execution Sets the position user puls
47. 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Description MODE VEF VES instructions define the voltage control operating in the external reference motion mode If MODE VEF is set the reference module will always use only the analogue reference input In MODE VES there are also possible the other external modes as previously defined by the EXTREF instruction The reference will represent a voltage reference value in voltage control structures See Motion Programming chapter for details about external reference parameters and implementation Depending on the selected option VEF or VES the reference is generated in the fast control loop or in the slow control loop Note that no control loop is needed to implement the selected mode The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD Technosoft 2006 250 MotionChip Il TML Programming Execution Sets the voltage external motion mode reference type Two cases are possible MODE Reference location VEF In the fast loop VES In the slow loop Example MODE VES MODE Voltage External reference in slow loop UPD Update immediate Technosoft 2006 251 MotionChip Il TML Programming Name MODE VT Volta
48. 2 1 0 1 0 0 1 1 1 0 1 0 0 0 0 TypeMem 0 1 0 0 0 0 Axis 0 0 0 0 amp VAR16S amp VAR32D Description Bring the 32 bit value of the source operand from an external axis and assign it to the 32 bit destination local variable Execution local 32 bit destination variable external source 32 bit value from another axis TypeMem DM 01 PM 00 SPI 10 Example1 long VarLoc VarExt Vertes 15 VarExt Before instruction After instruction VarLoc on local axis VarLoc on local axis 0x1234ABCD VarExt on axis 15 0x1234ABCD VarExt on axis 15 0x1234ABCD Example2 long VarLoc VarExt vario 15 VarExt dm Before instruction After instruction VarLoc on local axis x VarLoc on local axis 0xF0E1A2B3 VarExt on axis 15 0xF0E1A2B3 VarExt on axis 15 0xF0E1A2B3 Example3 long VarLoc int pVarExt Vaches 15 pVarExt dm Before instruction After instruction pVarExt on axis 15 0x1234 pVarExt on axis 15 0x1234 At dm address 0x1234 OxFEDC At dm address 0x1234 OxFEDC on axis 15 on axis 15 At dm address 0x1235 0x2233 At dm address 0x1235 0x2233 on axis 15 on axis 15 VarLoc on local axis x VarLoc on local axis 0x2233FEDC Example4 long VarLoc Technosoft 2006 156 MotionChip Il TML Programming int pVarExt VarLoc 15 pVarExt dm Before instruction After instruction pVarExt on axis 15 0x1234 pVarExt on axis 15 0x1236 At dm address 0x1234 OxFEDC At dm address 0x1234 OxFEDF on axis 15 on axis 15 At dm
49. 2006 24 MotionChip Il TML Programming 2 1 2 Speed Profile Modes In the speed profile the motor is controlled in speed You specify the acceleration deceleration rate and the jog speed The speed sign specifies the direction The motor accelerates until the jog speed is reached During motion you can change on the fly the jog speed and the acceleration deceleration rate Use a stop command to stop the motion Jog Speed time acceleration Figure 2 4 Speed profile parameters Depending on the control structure used two speed profile modes are possible Table 2 4 Speed Profile Motion Modes Speed Profile Controlled Loops Motion Modes Position Speed Torque SP1 V SPO V Like in the position profile modes the selection of one of the above speed profile modes must match with the setup data Remarks e Asin most applications the current torque control is needed the IPM Motion Studio does not cover the setup options where current loop is not closed Therefore using IPM Motion Studio you have only one option speed loop with current loop closed MODE SP1 e You can switch on the fly between a position control mode closing all the loops like MODE PP3 and a speed control mode closing speed and current loops like MODE SP1 However if you use a position control mode closing only position and current loop like MODE PP1 because in this case the speed loop is disabled switching between the position
50. 5 Enable operation in one of the electronic gearing slave modes Depending on the control structure the following four motion modes are possible for the slaves Table 2 8 Electronic Gearing Slave Motion Modes Technosoft 2006 37 MotionChip Il TML Programming Remarks Controlled Loops Torqu Electronic Gearing Slave Motion Modes Position Speed GS3 GS1 NI GS2 y NI NI GSO e The selection of one of the above electronic gearing modes must match with the setup data like in the case of position and speed profiles e Asin most applications the current torque control is needed the IPM Motion Studio does not cover the setup options where current loop is not closed Therefore using IPM Motion Studio you can chose only between 2 options position loop with speed loop and current loop MODE GS3 and position loop without speed loop and with current loop MODE GS1 Related TML Parameters SLAVEID MREF MPOSO GEAR GEARMASTER GEARSLAVE MASTERRES APOS2 MSPD EFLEVEL the axis or group ID to which the master sends its position When group ID is used the SLAVEID is set with group ID value 256 int Slave location where the master sends its position long Measured in masier position units Slave location where the previous master position is stored long The master increment is computed on each slave axis aS MREF MPOSO Measured in master position units Slave s gear ratio
51. 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 1 1 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 Description MODE TC instruction defines the torque control operating in the contouring reference motion mode In this mode the reference module will perform linear interpolation based on motion speed segments described using the SEG instruction The reference will represent a torque reference value in torque control structures The reference will be generated in the slow control loop position speed loop See Motion Programming chapter for details about contouring reference parameters and implementation Note that the current control loop is needed to implement the selected mode thus one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD Execution Sets the torque contouring motion mode reference type Example MODE TC Set Torque Contouring Mode 1 REFO 0 00000 Initial reference SEG 200U 2 00000 Set 1 motion segment Increment torque reference with 2 bits for the next 200 sampling periods UPD Update immediate SEG 100U 1 00000 Set 2 motion segment SEG 200U 0 00000 Set 3 motion segment SEG 100U 1 00000 Set 4 motion segment Technosoft 2006 243 MotionChip Il TML Programming Technosoft 2006 EG 0 0 End of contouring mod
52. APOS L second point OAOF xxxx Acquired value ATIME L second point OA10 xxxx Acquired value ATIME H second point OEB8 xxxx Acquired value ATIME H last point Address data hex Name Description 0365 0A01 LOG_PTR Internal pointer to logger buffer Bits 15 2 00001010000000 bin bits 15 2 of LOG_START_ADDR Bits 1 0 01 bin logger active in Speed Position control loop When the acquisition is done in speed position control loop the acquisition period is Acquisition period s SLPER bits lt Sampling multiplier gt bits lt PWM period gt s When the acquisition is done in current control loop the acquisition period is Acquisition period s CLPER bits lt Sampling multiplier gt bits lt PWM period gt s Example e SLPER 20 e lt Sampling multiplier gt 4 e lt PWMperiod gt 50 x 10 s Acquisition period s 20 x 4 x 50 x 10 s 4 x 10 s Technosoft 2006 17 MotionChip Il TML Programming This page is empty Technosoft 2006 18 MotionChip Il TML Programming 2 TML description This chapter describes the TML Technosoft Motion Language The TML provides instructions for the following categories of operations Motion programming and control Program flow control I O handling Assignment and data transfer Arithmetic and logic manipulation Data transfer between axes Miscellaneous 2 1 Motion programming and control These instructi
53. ASPD GT Execute a second motion of 4000 counts if motor speed gt 0 MOVEP Function to move up to a specified position CACC 1 5 Acceleration command for position profile counts sampling CSPD 20 Speed command for position profile counts sampling CPOS my_pos Position command counts UPD Update immediate RET Exit from function MOVEP Technosoft 2006 258 MotionChip Il TML Programming Name RETI Return from a TML interrupt function Decision group Syntax RETI RETurn from a TML Interrupt function Operands Type TML program On line X Binary code 145 14 13 12 11 10 9 8 7 6 5 4 3 _ 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 Description This instruction allows the return from a TML interrupt service routine When a TML interrupt service routine is entered a specific TML sequence is executed The return from interrupt instruction will be used to end the execution of the interrupt function and to continue the TML sequence that was interrupted Execution Returns from a TML interrupt function Enables TML interrupts they were disabled at the start of the TML interrupt service routine TOS gt IP Example test TML interrupts int u_var dt fixed dp BEGIN start the TML program INTTABLE InterruptTable locate the interrupt vector ENDINIT global sy
54. Group_lds of the local axis Example GROUPID 1 local axis belongs to groups 1 ADDGRID 2 local axis belongs to groups 1 and 2 ADDGRID 5 local axis belongs to groups 1 2 and 5 REMGRID 2 from now on the local axis belongs only groups 1 and 5 Technosoft 2006 256 MotionChip Il TML Programming Name RESET Reset the DSP processor Configuration and command group Syntax RESET Reset DSP processor Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 Description The RESET instruction resets the DSP processor After this instruction the complete TML environment is reinitialized The following basic initializations are performed e The TML registers and parameters are initialized with their default values e Based on these values and some hardware tests the basic hardware initializations are also performed e The TML environment detects if an external memory is installed on the SPI interface by identifying a valid TML command at the start address of this memory e f such a program is detected it is executed otherwise an infinite loop is executed and only an on line TML command will change this status Execute such a command in order to exit from a malfunctioning situation when the system does not operate correspondingly This instru
55. However if the immediate value is inside the integer range in order to execute a 32 bit data transfer it is necessary to add the suffix L after the value for example 200L or 1L Examples user_var 0x29E Il write CPOS address in pointer variable user_var user_var dm 1000000 write 1000000 0xF4240 in the CPOS parameter i e Il 0x4240 at address 0x29E and OxF at next address 0x29F user_var dm 1 write 1 OxFFFF in CPOS L CPOS H remains unchanged II CPOS value is 0xFFFFF i e 1048575 user_var is Il incremented by 1 user_var 0x29E Il write again CPOS address in pointer variable user_var user_var dm 1L write 1L long value OxFFFFFFFF in CPOS i e II CPOS L OxXFFFF and CPOS H OxFFFF user_var is Il incremented by 2 user_var 0x2A0 write CSPD address in pointer variable user_var user_var dm 1 5 write 1 5 0x18000 in the CSPD parameter i e Il 0x8000 at address 0x2A0 and 0x1 at next address 0x2A1 Remark When the source is either an immediate value or another TML data and the destination is a TML data the destination address must be between 0x200 and 0x3FF This happens for most of the TML data including all the user defined variables which take addresses between 0x3B0 to Ox3FF There are however a limited number of TML parameters and variables having an extended address situated between 0x800 and Ox9FF For these TML data you should use either indirect addressing via a pointer va
56. If this input is low the MotionChip Il is set in the AUTORUN mode In the AUTORUN mode the MotionChip II reads the first EEPROM memory location at address 0x4000 and checks if the binary code corresponds to the TML instruction BEGIN If this condition is true the TML program saved in the EEPROM memory is executed starting with the next instruction after BEGIN If analogue input ADCIN is high the MotionChip Il enters in the slave mode where it waits to receive commands via a communication channel Even if there is a valid TML program in the EEPROM this is not executed During a TML program execution the MotionChip Il can enter in the slave mode and thus stopping the TML program execution after the execution of the END command or after receiving STOPx x 0 1 2 or 3 command from an external device via a communication channel Technosoft 2006 14 MotionChip Il TML Programming 1 10 Logger feature Step to follow in order to use the logger features Setup the logger header Setup the logger pointer If the drive is in Axison state the data acquisition is done at each current or speed position loop period depending by logger configuration The following table presents the map of logger buffer Buffer Logger buffer address Name Description LOG_START_ADDR 0 N_POINTS Number of points left to be acquired During the acquisition this value is decremented to 0 LOG_STAR
57. In this case the following happens e the update event and the wait event bits of the MSR register are set if a negative limit switch triggered ILSN instruction was executed prior the occurrence of the transition e if an update on event was programmed a motion update is performed e the corresponding status bit in the MSR register Bit 7 is set e the corresponding interrupt bit in the ISR register Bit 7 is set and will determine the execution of the associated interrupt service routine if the corresponding mask bit from the ICR register is set e the negative limit switch pin is reprogrammed in the disabled mode and can be used as an input pin usable to get the status of the limit switch signal Use the DISLSN instruction to disable this function Use the LSN variable in order to examine the status of the negative limit switch pin Execution Enable falling edge front detection on negative limit switch Example CACC 1 5 Set acceleration command CSPD 20 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate ENLSNO Negative Limit Switch triggers falling edge CSPD 20 Set new speed command counts sampling LSN Set event if Negative LimitSwitch is reached UPD Update on event Technosoft 2006 212 MotionChip Il TML Programming Name ENLSN1 Enable rising edge front detection on negative limit switch
58. Ox709A 0x0004 Ox709A 0x0008 Ox709A 0x0010 Ox709A 0x0020 Ox709A 0x0040 Ox709A 0x0080 Ox709C 0x0001 Ox709C 0x0002 Ox709C 0x0004 Ox709C 0x0008 Technosoft 2006 116 n PxDATDIR Bit_mask 20 0x709C 0x0010 21 0x709C 0x0020 22 0x709C 0x0040 23 0x709C 0x0080 24 0x709E 0x0001 25 0x7095 0x0001 26 0x7095 0x0002 27 0x7095 0x0004 28 0x7095 0x0008 29 0x7095 0x0010 30 0x7095 0x0020 31 0x7095 0x0040 32 0x7095 0x0080 33 0x7096 0x0001 34 0x7096 0x0002 35 0x7096 0x0004 36 0x7096 0x0008 37 0x7096 0x0010 38 0x7096 0x0020 39 0x7096 0x0040 MotionChip Il TML Programming Name ILSN Set event when negative limit switch becomes active Event group Syntax ILSN if LimitSwitchNegative active Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 0 0 Description Program the detection of the event once the negative limit switch is reached and becomes active An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when the negative limit switch becomes active The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous progr
59. PPDO MODE Position Pulse amp Dir O MODE PPD1 MODE Position Pulse amp Dir 1 T MODE PPD2 MODE Position Pulse amp Dir 2 S MODE PPD3 MODE Position Pulse amp Dir 3 S T MODE SCO MODE Speed Contouring 0 MODE SC1 MODE Speed Contouring 1 T MODE SEO MODE Speed External 0 MODE SE1 MODE Speed External 1 T MODE SPO MODE Speed Profile O MODE SP1 MODE Speed Profile 1 T MODE SPDO MODE Speed Pulse amp Dir 0 MODE SPD1 MODE Speed Pulse amp Dir 1 T MODE TC MODE Torque Contouring MODE TEF MODE Torque External Fast loop MODE TES MODE Torque External Slow loop MODE TT MODE Torque Test MODE VC MODE Voltage Contouring MODE VEF MODE Voltage External Fast loop MODE VES MODE Voltage External Slow loop MODE VT MODE Voltage Test Table 4 2 Event group Mnemonic Description IAPO IAPO V32 if Relative Position Over V32 IAPO val32 if Relative Position Over val32 lAPU IAPU V32 if Relative Position Under V32 IAPU val32 if Relative Position Under val32 IAT IAT V32 if Absolute Time gt V32 IAT val32 if Absolute Time gt val32 ICAP ICAP if Capture triggered IIN IN n 0 if Input n is O IIN n 1 if Input n is 1 ILSN ILSN if Limit Switch Negative active ILSP ILSP if Limit Switch Positive active IMC IMC set event if Motion Complete IRO IRO V32 if Reference Over V32 IRO val32 if Reference Over val32 IRPO IRPO V32 if Relative Posi
60. Stop address Description The selected 16 bit variable is assigned with checksum operation performed on the all memory locations situated in TypeMem between Start address and Stop address 1 Execution 16 bit destination variable checksum of data located in TypeMem between Start address and Stop address 1 TypeMem DM 01 PM 00 SPI 10 Example int Varl CHECKSUM SPI 0x5000 0x5007 VARI Before instruction After instruction Var1 x Var1 0xD45F TypeMem start address 0xB004 TypeMem start address 0xB004 Technosoft 2006 189 MotionChip Il TML Programming 0x5000 0x5000 TypeMem address OxOFF1 TypeMem address OxOFF1 0x5001 0x5001 TypeMem address 0x0366 TypeMem address 0x0366 0x5002 0x5002 TypeMem address 0x0404 TypeMem address 0x0404 0x5003 0x5003 TypeMem address 0x0C09 TypeMem address Ox0C09 0x5004 0x5004 TypeMem address 0x0010 TypeMem address 0x0010 0x5005 0x5005 TypeMem address 0x00E7 TypeMem address 0x00E7 0x5006 0x5006 TypeMem address 0x0008 TypeMem address 0x0008 0x5007 0x5007 Technosoft 2006 190 MotionChip Il TML Programming Name CPA Absolute command position Configuration and command group Syntax CPA Command Position is Absolute Operands Type TML program On line X X Bin
61. Syntax VAR16D label VAR16D value16 VAR16D VAR16S VAR16D VAR32S L VAR16D VAR32S H VAR16D dm value16 VAR16D dm VAR16S VAR16D VAR16S TypeMem set VAR16D to value of a label set VAR16D to value16 set VAR16D to VAR16S value set VAR16D to VAR32S L value set VAR16D to VAR32S H value set VAR16D from dm to value16 set VAR16D from dm to VAR16S set VAR16D to amp VAR16S from TM VAR16D VAR16S TypeMem set VAR16D to amp VAR16S from TM then VAR16S 1 VAR16D TypeMem value16 set amp VAR16D from TM to value16 VAR16D TypeMem VAR16S set amp VAR16D from TM to VAR16S VAR16D TyoeMem value16 set amp VAR16D from TM to value16 then VAR16D 1 VAR16D TyoeMem VAR16S set amp VAR16D from TM to VAR16S then VAR32D L value16 VAR32D L VAR16S VAR32D H value16 VAR32D H VAR16S VAR16D 1 set VAR32D low word to value16 set VAR32D L to VAR76 value set VAR32D high word to value16 set VAR32D H to VAR16 value Legend D destination S source label 16 bit address of a TML instruction label value16 16 bit integer immediate value VARI 6x integer variable VAR32x L the low word of VAR32x long variable VAR32x H the high word of VAR32x long variable Dm data memory operand TypeMem memory operand VAR16x contents of variable VAR16x representing a 16 bit address of another variable Operands TML program On line X X Type
62. TML instruction PPOSERR is sent Supposing that the position error value is 2 the code of the TML instruction Take Data is Operation Code B404h Data word 1 0050h Data word 2 022Ah Data word 3 0002h The CAN message Identifier for command Take Data will have the following content 28 0 operan Sar Group Axis Group 0 00 Host Operation code B004h bit ID bit 9LSB of B004h 1011010 JO 00000011 0 0 0 1 000000100 16806204h Technosoft 2006 96 MotionChip Il TML Programming Consequently the CAN message for the answer to the POSERR request is Value Description Identifier 16806204 CAN Message Identifier Byte 0 50 low byte of Data word 1 0050h Byte 1 00 high byte of Data word 1 0050h Byte 2 2A low byte of Data word 2 022Ah Byte 3 02 high byte of Data word 2 022Ah Byte 4 02 low byte of Data word 2 0002h Byte 5 00 high byte of Data word 2 0002h Figure 3 13 CAN message contents for Take Data value of POSERR Remark A Give Me Data command can t be sent to a group of axes Technosoft 2006 97 MotionChip Il TML Programming This page is empty Technosoft 2006 98 MotionChip Il TML Programming 4 TML instruction set The chapter describes the complete set of TML instructions grouped by functionality In each group the instructions are ordered alphabetically mnemonic syntax
63. Table 2 12 The TML interrupt mechanism is the following Conditions that may generate TML interrupts are continuously monitored When an interrupt condition occurs a flag bit is set in the Interrupt status register ISR If the interrupt condition is enabled i e the same bit as position is set in the Interrupt control register ICR and also if the interrupts are globally enabled EINT instruction was executed the interrupt condition is qualified and it generates an interrupt The interrupt causes a jump to the associated interrupt service routine On entry in this routine the TML interrupts are globally disabled DINT and the interrupt flag is reset The interrupt service routine ends with the TML instruction RETI which returns to normal program execution and in the same time globally enables the TML interrupts EINT The interrupt service routines ISR of the TML interrupts are similar with the TML subroutines the starting point is a label and the ending point is the TML instruction RETI return from interrupt The use of the TML interrupts requires defining an interrupt table This starts with a Technosoft 2006 60 MotionChip Il TML Programming label whose value must be assigned in the dedicated TML variable INITABLE and then is followed by the values of the labels i e the starting points of all the ISR Like the TML functions the TML interrupt service routines must be positioned after the end of the main prog
64. UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when motor speed lt value32 or VAR32 respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 0 005 Set acceleration command CSPD 20 Set speed command CPOS 100000 Position command counts CPA Position command is Absolute MODE PP3 Set Position Profile Mode 3 UPD Update immediate CACC 1 Set new acceleration ISU 15 Set event if speed lt 15 UPD Update on event Technosoft 2006 132 MotionChip Il TML Programming Name IVO Set event when a selected variable is equal or over a given value Event group Syntax IVO VAR32A value32 if Var32AOver value32 IVO VAR32A VAR32B if Var32AOver VAR32B Operands VAR32A long variable VAR32B long variable value32 32 bit long immediate value Type TML program On line X X Binary code IVO VAR32A value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 0 1 0 0 1 0 0 0 0 amp VAR32A LOWORD value32 HIWORD value32 IVO VAR32A VAR32B 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 1 1 0 0 1 0 0 0 0 amp VAR32A amp VAR32B Descripti
65. VAR32S DM local VAR32D A VAR32S DM VAR32D Axis VAR16S TypeMem local VAR32D A amp VAR16S TM VAR32D Axis VAR16S TypeMem local VAR32D A amp VAR16S TM then V16S 2 Operands VAR32x long variable VAR32x Axis 8 bit ID for source axis DM data memory operand TypeMem memory operand One of dm 0x1 pm 0x0 or spi 0x2 values VAR16x contents of variable VAR16x representing a 16 bit address of a variable Type TML program On line X Binary code VAR32D Axis VAR32S 15 14 13 12 1 10 9 8 7 6 5 4 3 2 1 0 1 1 1 0 te 1201 feo OLSBs of amp VAR32S 0 0 0 0o Axis 0 0010 amp VAR32D VAR32D Axis VAR32S dm 15 14 13 12 1 10 9 8 7 6 5 4 3 2 1 0 i o o0 1 1 1 o o o o o0 0o0 0 1 0 1 o o 0 0o Axis 0 0 0 0 amp VAR32S amp VAR32D VAR32D Axis VAR16S TypeMem 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 1 0 0 1 1 1 0 1 1 0 0 0 TypeMem 0 1 0 0 0 Axis 0 0 0 amp VAR16S amp VAR32D VAR32D Axis VAR16S TypeMem Technosoft 2006 155 MotionChip Il TML Programming 15 14 13 12 11 10 9 8 7 6 5 4 3
66. X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Description RGM instruction resets the axis from the electronic gearing camming master operation mode In this mode the reference values will be generated only locally The axis does not send its position information to the slave axes but use it only locally See Motion Programming chapter for details about gearing reference parameters and implementation Execution Resets the axis from the gear cam master operation mode Example RGM exit from master mode enter in local mode Technosoft 2006 262 MotionChip Il TML Programming Name ROUT Reset output bit port I O group Syntax ROUT n Reset OUT n to low state 0 Operands n number of output bit port 0 lt n lt 39 Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 PxDATDIR ANDrst ORrst Description ROUT hn instruction resets the output status of the bit port IO line number n Note that the bit port must be defined as an output port using the SETIO n OUT instruction Execution Resets the output bit port number n Example SETIO 13 OUT Set IO line 13 as output ROUT 13 Reset the IO line 13 Technos
67. a different value by writing the desired value in data memory at location 0x81C This operation can be performed by the following TML code Technosoft 2006 36 MotionChip Il TML Programming user_var 0x81C II set user variable user_var with 0x81C the address of the master Il position computed from 2 encoder inputs user_var dm initial_value Il write initial_value in data memory dm at Il address pointed by user_var i e in the master position Remarks The initial master value is a 32 bit long integer value However if the initial value to write is small enough to be represented as a 16 bit integer i e between 32768 and 32767 add after the initial value an L for example 200L to indicate that this value is a long not an integer This will initialize the 16MSB part too i e the next memory location 0x81D Initialization of the drives for reading the master position from the 2nd encoder inputs requires one speed position sampling period typically 1ms After EXTREF 2 command do not enable immediately the slave operation Introduce a wait time of 1 speed position sampling period see for details par 2 2 3 Set master resolution e g the number of encoder counts per one revolution of the master motor The slaves need the master resolution to compute correctly the master position and speed i e position increment This operation can be performed by the following TML code user_var 0x81A II set user variable
68. amp AND OR masks for ENIO n DISIO n and Table MCRx amp PxDIR addresses ORdis 16 bit OR mask See Table MCRx amp AND OR masks for DISIO n and Table MCRx amp PxDIR addresses ORen 16 bit OR mask See Table MCRx amp AND OR masks for ENIO n and Table MCRx amp PxDIR addresses ORin 16 bit OR mask See Table AND OR masks for SETIO n IN ORm 16 bit user defined OR mask ORout 16 bit OR mask See Table AND OR masks for SETIO n OUT ORrst 16 bit OR mask See Table AND OR masks for ROUT n ORset 16 bit OR mask See Table AND OR masks for SOUT n PxDIR See Table PxDIR amp Bit_msk for V16 IN n and Table MCRx amp PxDIR addresses PM Data memory space 200 3FFh 800 9FFh internal 8000 FFFFh external DM Program memory space 8000 FFFFh external SPI SPI E2ROM memory space 4000h 7FFFh external TM Type of memory When used in syntax TM should be replaced by DM or PM or SPI When used in code see Table TM values VAR16 16 bit integer variable VAR16D 16 bit integer variable used as destination VAR16S 16 bit integer variable used as source VAR32 32 bit long or fixed variable VAR32 L 16LSB of a 32 bit long or fixed variable seen as a 16 bit integer VAR32 H 16MSB of a 32 bit long or fixed variable seen as a 16 bit integer VAR32D 32 bit long or fixed variable used as destination VAR32S 32 bit long or fixed variable used as source value16 16 bit integer value value32 32 bit long or fixed value value32 L
69. amp VAR32A LOWORD value32 HIWORD value32 IVU VAR32A VAR32B 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 1 amp VAR32A amp VAR32B Description Program the detection of the event when the selected variable any 32 bit TML variable is smaller than the specified value or the value of another 32 bit variable An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when the selected variable VAR32A lt value32 or VAR32B respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 0 57 Acceleration command for position profile counts sampling CSPD 20 Speed command for position profile counts sampling CPOS 50000 Position command counts Technosoft 2006 134 MotionChip Il TML Programming CPA Position command is Absolute MODE PP3 Set Position Profile Mode 3 UPD Update immediate CSPD 30 New speed command for position profile counts sampling VU APOS 10000 Set event when APOS is equal or under 10000 counts UPD Update on event Technosoft 2006 135 MotionChip Il TML Programming Name Assignment instruction for 16 bits TML variables Assignment group
70. capture input is automatically disabled after the programmed transition was detected In order to reuse a capture input you need to enable it again If you have a capture input enabled and you want to disable it before sensing the transition use the following TML instructions DISCAPI Deactivate CAPI input Set CAPI pin as digital input DIS2CAPI Deactivate 2CAPI input Set 2CAPI pin as digital input 2 3 3 Limit switches The MotionChip II has two limits switch inputs IN 2 LSP and IN 24 LSN first for the positive direction and the second for negative direction Their goal is to protect against accidental moves outside the working area The limit switch inputs are active on level more exactly when the input level is high When a limit switch input is active it stops the motor when it attempts to move towards the protected direction but allows the motor to move in the opposite direction Therefore with the positive limit switch active movement is possible only in the negative direction with the negative limit switch active movement is possible only in the positive direction Like the capture inputs the limit switch inputs can be programmed to sense either a low to high or high to low transition When the programmed transition occurs the actual motor position is captured and stored in the dedicated variable named CAPPOS The position capture is done with a maximum delay of 5 us In many applications in order to determin
71. contents for Give Me Data value of kpp Figure 3 9 Serial message contents for Take Data value of kpp Figure 3 10 CAN message structure Figure 3 11 CAN message contents when TML instruction kpp 0x1234 is sent Figure 3 12 CAN message contents when TML instruction POSERR is sent Figure 3 13 CAN message contents for Take Data value of POSERR 86 88 89 90 91 91 94 95 96 97 Technosoft 2006 IX MotionChip Il TML Programming Tables Table 1 1 Type of TML commands ss 2 Table 42 TME datatype a ts eecesehieeiek lt lia alal ani lata lea ta 9 Table 2 1 Motion Modes iii 19 Table 2 2 Position Profile Motion Modes 20 Table 2 3 Round off error example Options and expected errors 23 Table 2 4 Speed Profile Motion Modes nssr ttnn nenne nent 25 Table 2 5 Contouring Modes i i 28 Table 2 6 Extemal Modes f e Sede ilaria 31 Table 2 7 Pulse amp Direction Modes 34 Table 2 8 Electronic Gearing Slave Motion Modes 37 Table 2 9 Electronic Cam Slave Motion Modes 43 Table 2 10 Stop M des a ss nt tn NS in Ialia nds de A Mate 48 Table 2 11 Programmable Event Triggers 53 Table 2 12 TML Interrupt Conditions 61 Table 3 1 Axis ID values aineina eein eeii AAi eiae A EENE 87 Table 3 2 Definition of the groups sise 88 Table 4 1 Motion mode setting group ss 99 Table 4 2 Event group asie ela Leli
72. detection of the event when the relative position value is greater than the specified value An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when the relative position value is gt value32 or VAR32 respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 0 5 Acceleration command for position profile counts sampling CSPD 20 Speed command for position profile counts sampling CPOS 100000 Position command counts0 CPR Position command is Relative MODE PP3 Set Position Profile Mode 3 Technosoft 2006 123 MotionChip II TML Programming UPD Update immediate CSPD 40 New speed command counts sampling RPO 60000 Set event when relative position gt 60000 counts UPD Update on event Technosoft 2006 124 MotionChip Il TML Programming Name IRPU Set event when the relative position is smaller than a given value Event group Syntax IRPU value32 if RelPositionUnder value32 IRPU VAR32 if RelPositionUnder VAR32 Operands VAR32 long variable value32 32 bit long immediate value
73. drive and can be A 16 bit TML data TML register parameter variable or user variable Technosoft 2006 76 MotionChip Il TML Programming e The destination is placed on the remote axis or group of axes and can be A 16 bit TML data TML register parameter or user variable A memory location indicated through a pointer variable Programming Examples 1 Source local 16 bit TML data Destination remote 16 bit TML data 2 remote_var local_var setremote_var from axis 2 with local_var value G2 remote_var local_var set remote var from group 2 with local_var value 2 Source 16 bit TML data Destination remote memory location pointed by a remote pointer variable The remote memory location can be of 3 types SRAM data memory dm SRAM memory for TML programs pm EEPROM SPl connected memory for TML programs spi If the pointer variable is followed by a sign after the assignment the pointer variable is incremented by 1 if the source is a 16 bit integer or by 2 if the source is a 32 bit long or fixed 2 p_var spi local_var setlocal_var value in EEPROM program memory II location from axis 2 pointed by p_var from axis 2 G3 p_var dm long_var setlocal long_var value in SRAM data memory Il location from group 3 of axes each location being II pointed its own p_var which is incremented by 2 4 p_var pm int_var Il set local int_var value in SRAM program memory II location from axis 4 pointed by p
74. event to occur SAP 0 STOP3 disables TUM1 Hence APOS 0 and TPOS APOS POSERR MODE PP3 set again the position profile mode 3 UPD update restart motion after a STOP command 2 1 9 Torque Voltage Test Modes The torque and voltage test modes have been designed to facilitate the testing during the setup phase In these test modes either a voltage or a torque current command can be set using a test reference consisting of a limited ramp see Figure 2 6 For AC motors like for example the brushless motors the test mode offers also the possibility to rotate a voltage or current reference vector with a programmable speed see Figure 2 7 As a result these motors can be moved in an open loop mode without using the position sensor The main advantage of this test mode is the possibility to conduct in a safe way a series of tests which can offer important information about the motor parameters drive status and the integrity of the its connections Reference max reference reference increment time Figure 2 6 Reference profile in test modes Technosoft 2006 50 MotionChip Il TML Programming Figure 2 7 Electrical angle setup in test modes with brushless AC motors Remark The Motion test is a special test mode to be used only in some special cases for drives setup The Motion Test mode is not supposed to be used during normal operation Related Parameters REFTST maximum value of the te
75. for position profile counts sampling IRPO 20000 Set event when relative position gt 20000 bits UPD Update on event Technosoft 2006 255 MotionChip Il TML Programming Name REMGRID Remove group ID Multiple axis group Syntax REMGRID value16 Remove value16 from GROUP ID REMGRID VAR16 Remove value of VAR16 from GROUP ID Operands value 16 16 bit integer immediate value VART6 integer variable Type TML program On line X X Binary code REMGRID value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 Value16 REMGRID VAR16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 amp VAR16 Description In multiple axis structures this command allows one to remove a group ID of the local axis After the execution of this command the group ID value removed is no more recognized by the axis and the communication drivers will reject messages addressed to the removed group ID Only the lower 8 bits of the value16 or VAR16 parameters are used for group coding Each bit corresponds to a group Up to 8 groups can be defined added removed in a multiple axis structure An axis can belong to any of the 8 groups A multiple axis message can be addressed to one axis or to a group of axes Execution Delete Group_ID with the specified value from the
76. for test purposes During normal operation the drive performs at least torque control Voltage control may occur only during setup tests or if you have specifically set the drive in voltage contouring voltage external or voltage test modes Remarks e In order to restart after a STOPx x 0 1 2 3 command the motion mode has to be set again even if it is not changed Setting a motion mode disables the stop mode and allows the motor to move e STOPx x 0 1 2 3 commands always set TUMO mode to perform an update of the target reference position and speed with the actual motor position and speed e When a host sends via a communication channel a STOPx command this stops the execution of any TML program from the local memory in order to avoid the risk of overwriting the STOPx command from the TML program e Use with caution STOP2 STOP1 and STOPO commands These cause abrupt stops that may generate an important energy towards the supply If the power supply can t absorb Technosoft 2006 48 MotionChip Il TML Programming the energy generated by the motor it is necessary to foresee an adequate surge capacitor in parallel with the drive supply to limit the over voltage When an immediate update command uPD is executed the last motion mode programmed together with the latest motion parameters are taken into consideration During motion execution you can freely change the motion mode and or its parameters These changes will hav
77. general purpose outputs The 4 general purpose inputs are 36 37 38 and 39 You can read their status with the TML command user_var IN n Il read input n in the user variable user_var where user_var is a 16 bit integer user defined variable and n is the input number 36 to 39 If the input is low 0 logic user_var is set to 0 else user_var is set to a non zero value Programming Example user_var IN 36 Il read input 36 in user_var GOTO labell user_var NEO go to label1 if input 36 is high 1 logic user_var IN 39 read input 39 in user_var GOTO label2 user_var EQ go to label2 if input 39 is low 0 logic The 4 general purpose outputs are 28 29 30 31 You can set them high 1 logic or low 0 logic with the following commands ROUT n Il Set low the output line n SOUT n Il Set high the output line n where n is the output number 28 31 You can also read simultaneously the 4 general purpose inputs and set simultaneously the 4 general purpose outputs with the TML instructions user_var INPORT OxF Il user_var bits 3 0 status of IN 39 38 37 36 OUTPORT user_var Il OUT 28 29 30 31 user_var bits 3 0 In the first TML instruction the status of the 4 inputs is saved in the 4LSB of the 16 bit user variable while the 12MSB are set to 0 If an input line is low the corresponding bit in the user variable is zero If an input line is high the corresponding bit in t
78. if varl lt 0 GOTO label2 varl LEQ jump to label2 if varl lt 0 GOTO label3 varl GT jump to label3 if varl gt 0 GOTO label4 unconditional jump to label4 CALL fctl var2 GEO call function fctl if var2 gt 0 CALL fctl var2 EQ call function fctl if var2 0 CALL fctl var2 NEO call function fctl if var2 0 CALL etli unconditional call of function fctl feti RET Remarks All labels mentioned in the GOTO or CALL instructions must exist i e must be defined somewhere in the TML program The variable tested in the conditional GOTO and CALL can be of any type 16 or 32 bit When you call a TML subroutine the return address pointed by the IP instruction pointer is saved into the TML stack When RET is executed the IP is set with the last value from the TML stack hence the TML program execution continues with the next instruction after the cALL The TML stack dimension is 12 words Each CALL and TML interrupt uses one word of the TML stack The body of the TML subroutines must be placed outside the main TML program i e after the END instruction see Figure 1 1 2 2 3 Interrupts The TML interrupts offer the possibility of selecting up to 12 interrupt conditions that can be monitored in the same time Unlike the events where the programmed event is expected to occur and is waited for the TML interrupts main goal is to provide a way of reacting to unexpected events as are most of the conditions in
79. last cam table output point and Y_1 f X_1 is the previous cam table output On cam exit condition is when actual X is outside cam table i e X gt Xmax but previous X_1 was inside the cam i e X_1 lt Xmax DY Ymax Y_1 Y Ymin if in the cam with master rollover where Y f X is the actual cam table output Y_1 f X_1 is the previous cam table output Ymax f Xmax is the last cam table output point Ymin f Xmin is the first cam table output point In the cam with master rollover condition is when both X and X_1 inputs are inside the cam table but X lt X_1 because the master position has rolled over When the master moves in the negative direction the slave position increment is DY Y Y_1 if in the cam where Y f X is the actual cam table output and Y_1 f X_1 is the previous cam table output In the cam condition is when both X and X_1 inputs are between the minimum Xmin and maximum Xmax input values DY Ymin Y_1 on cam exit where Ymin f Xmin is the first cam table output point and Y_1 f X_1 is the previous cam table output On cam exit condition is when actual X is outside cam table i e X lt Xmin but the previous X_1 was inside the cam table i e X_1 gt Xmin DY Y Ymax on cam entry where Y f X is the actual cam table output and Ymax f Xmax is the last cam table output point On cam entry condition is when actual X is inside cam table i e X lt Xmax but previous X_1 was outsid
80. limit switch interrupt function level 7 Negative limit switch interrupt function level 8 Capture interrupt function level 9 Motion complete interrupt function 260 MotionChip Il TML Programming Int10_UpdateContourSeg dp dp SEG dt dp u_var 110 RETI Intll_EventReached CPOS 20000 UPD u_var 111 RETI IntVect Technosoft 2006 Int0 Disable Int1_PDPINT Int4_CommError Int5_WrapAround Int8_ Capture Int2_SoftProtection Int3_ControlError Int6_LimitSwitchP Int7_LimitSwitchM Int9_MotionComplete Int10_UpdateContourSeg Int11_EventReached pointer to 261 level 10 segment level 11 Update interrupt function contour Event reached interrupt function interrupt vector table pointer to level 0 interrupt pointer to level 1 interrupt pointer to level 2 interrupt pointer to level 3 interrupt pointer to level 4 interrupt pointer to level 5 interrupt pointer to level 6 interrupt pointer to level 7 interrupt pointer to level 8 interrupt pointer to level 9 interrupt pt To level 10 interrupt level 11 interrupt MotionChip Il TML Programming Name RGM Reset gear cam master mode Configuration and Command group Syntax RGM Reset axis as Gear Cam Master Operands Type TML program On line
81. master position is set by default to 0 It may be changed to a different value by writing the desired value in data memory at location 0x81C This operation can be performed by the following TML code user_var 0x81C set user variable user_var with 0x81C the address of the master Il position computed from 2 encoder inputs user_var dm initial_value Il write initial_value in data memory dm at address pointed by user_var i e in the master position Technosoft 2006 42 MotionChip Il TML Programming Remarks e The initial master value is a 32 bit long integer value However if the initial value to write is small enough to be represented as a 16 bit integer i e between 32768 and 32767 add after the initial value an L for example 200L to indicate that this value is a long not an integer This will initialize the 16MSB part too i e the next memory location 0x81D e Initialization of the drives for reading the master position from the 2nd encoder inputs requires one speed position sampling period typically 1ms After EXTREF 2 command do not enable immediately the slave operation Introduce a wait time of 1 speed position sampling period see for details par 2 2 3 Set master resolution e g the number of encoder counts per one revolution of the master motor The slaves need the master resolution to compute correctly the master position and speed i e position increment This operation can be performed by th
82. of VAR16 has the range from 0 to 255 Execution Axis_ID is set to value16 or value of VAR16 Example AXISID 10 from now on the local axis ID is 10 10 AXISID 9 change the ID of axis 10 to 9 this instruction is send and executed on the actual axis 10 9 CSPD 30 send a command to axis 9 previous axis 10 Technosoft 2006 181 MotionChip Il TML Programming Name AXISOFF Set the axis OFF Configuration and command group Syntax AXISOFF AXIS is OFF deactivate control Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 Description This command deactivates the control loops current speed and position and the reference generator module The PWM outputs are also deactivated put in the high impedance status The real time kernel continues to be active both slow and high frequency sampling loops are active Only acquisition of measured data currents position Vdc etc continues to be performed Execution Sets the axis OFF and deactivates the control Example BEGIN include dc_epc ini includes the setup file ENDINIT end of setup file Loop AXISON start program MODE SP1 work mode CSPD 20 setup reference speed UPD update IRT 1000 Set event if RelativeTime gt 1000 WAIT
83. one memory location A long or fixed variable takes 2 consecutive memory locations In this case the variable address is the lowerst one Example int user_varl Il user_var1 address is 0x3B0 long user_var2 Il user_var2 address is 0x3B1 fixed user_var3 Il user_var3 address is 0c3B3 int user_var4 Il user_var4 address is 0x3B5 Remark you have to declare a user variable before using it first time Technosoft 2006 9 MotionChip Il TML Programming 1 7 TML Development tools As mentioned earlier a TML program has 2 parts the setup and the motion programming You should always start with the setup part This consists in assigning the right values for the TML registers and parameters according with your application data motor and sensors type operating conditions controller settings etc Once the setup process is completed you can start programming your application motion You can do these steps either by writing directly the TML program by using a higher level tool like IPM Motion Studio which generates automatically the TML program starting from your input data IPM Motion Studio is an integrated development platform specifically designed to help you develop and test motion applications in TML It comes with a user friendly interface allowing you to introduce your motor data select different operation options for the drive and perform a series of validation tests including identification of the motor parameters operation condi
84. performed Measured in speed units TACC Target acceleration fixed acceleration deceleration reference computed by the reference generator at each slow loop sampling period when a position profile mode is performed Measured in acceleration units APOS Actual position long motor position measured in position units 1 See par 2 8 for details about the MCII internal units and their correspondence with the International Standard IS units Technosoft 2006 21 MotionChip Il TML Programming ASPD Actual speed fixed motor speed measured in speed units Related TML Instructions CPR Command position is relative CPA Command position is absolute MODE PPx Set position profile mode x x 0 1 2 3 TUM1 Generate new trajectory starting from the actual values of position and speed reference i e don t update the reference values with motor position and speed TUMO Generate new trajectory starting from the actual values of motor position and speed i e update the reference values with motor position and speed UPD Update motion mode and parameters Start motion STOPO STOP1 STOP2 or STOP3 Stop motion using methods 0 to 3 In all position profile modes the motion parameters CPOS CSPD CACC can be changed any time during motion The reference generator automatically re computes the position trajectory in order to reach the new commanded position using the new values for slew speed and acceleration Figure 2 2 sh
85. pin bit port 34 in TML A capture input is automatically disabled after the programmed transition was detected and the position was captured In order to reuse a capture input you need to enable it again Execution Enable index2 capture on falling edge front transition from 1 to 0 Technosoft 2006 201 MotionChip Il TML Programming Example CACC 0 5 CSPD 20 MODE SP1 UPD ENZ2CAPIO CSPD 30 CAP UPD Technosoft 2006 Acceleration command for speed profile counts sampling Speed command counts sampling Set Speed Profile Mode 1 Update immediate Activate 2CAPI input to trigger a falling transition New acceleration command for speed profile counts sampling Set event if CAPture is triggered Update on event 202 MotionChip Il TML Programming Name EN2CAPI1 Enable index2 capture on rising edge front I O group Syntax EN2CAPI1 Enable 2ndCAPture Index 0 gt 1 Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 Description After the execution of this instruction the DSP will detect the first transition from 0 to 1 on the index2 capture input pin 2CAPI for drives where the second encoder input is available Index2 Capture captures the master position The master position can be captured only in the follow
86. reference Update on event 121 MotionChip Il TML Programming d In case of a voltage reference MODE VT REFTST 19353 RINCTST 194 UPD CACC 0 05 CSPD 20 CPOS 80000 CPA MODE PP3 RO 15000 UPD Technosoft 2006 Set Voltage Test Mode Reference saturation value in test mode Reference increment value in test mode Update immediate Acceleration command for position profile counts sampling Speed command for position profile counts sampling Position command counts Position command is Absolute Set Position Profile Mode 3 Set event if Reference gt 15000 bits voltage reference Update on event 122 MotionChip Il TML Programming Name IRPO Set event when the relative position is greater than a given value Event group Syntax IRPO value32 if RelPositionOver value32 IRPO VAR32 if RelPositionOver VAR32 Operands VAR32 long variable value32 32 bit long immediate value Type TML program On line X X Binary code IRPO value32 15 14 13 12 11 10 9 8 7 6 5 4 3 1 0 0 1 1 1 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 1 1 1 1 0 LOWORD value32 HIWORD value32 IRPO VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 1 0 0 1 1 1 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 1 1 1 1 0 amp VAR32 Description Program the
87. register are set if a capture triggered CAP instruction was executed prior the occurrence of the capture e fan update on event was programmed a motion update is performed e The corresponding status bit in the MSR register Bit 8 position capture is set e The corresponding interrupt bit in the ISR register Bit 8 position capture is set and will determine the execution of the associated interrupt service routine if the corresponding mask bit from the ICR register is set e The DSP index capture pin is programmed as a general input data pin bit port 5 in TML Execution Enable index capture on rising edge front transition from 0 to 1 Example CACC 0 5 Set acceleration command CSPD 20 Ser speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate ENCAPI1 Activate CAPI input to trigger a rising transitions CSPD 50 Set new acceleration command CAP Set event if CAPture is triggered Technosoft 2006 206 MotionChip Il TML Programming UPD Update on event Technosoft 2006 207 MotionChip Il TML Programming Name END End of TML program Miscellaneous group Syntax Operands Type Binary code END END of a TML program TML program Online X X 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 Description Remarks Execution The END instruction
88. sender ID Data 2 025Eh kpp variable address Data 3 0120h kpp variable value The serial message send by the host with Give Me Data TML command must have the following contents 08h length ID 2 Opcode 2 Data 4 OFh high byte of ID OFFOh FOh low byte of ID OFFOh BOh high byte of OpCode B004h 04h low byte of OpCode B004h OFh high byte of Data 1 OFF1h F1h low byte of Data 1 OFFih 02h high byte of Data 2 025Eh 5Eh low byte of Data 2 025Eh 1Bh checksum Figure 3 8 Serial message contents for Give Me Data value of kpp The host receives from the drive a byte 0x4F as confirmation that the message was received OK The serial message received by the host with Take Data TML command must have the following contents Byte 1 0Ah length ID 2 Opcode 2 Data 6 Byte 2 OFh high byte of ID OFF1h Byte 3 F1h low byte of ID 0FF1h Byte 4 B4h high byte of OpCode B404h Byte 5 04h low byte of OpCode B404h Byte 6 OFh high byte of Data 1 OFFOh Byte 7 FOh low byte of Data 1 OFFOh Byte 8 02h high byte of Data 2 025Eh Byte 9 5Eh low byte of Data 2 025Eh Byte 10 01h high byte of Data 3 0120h Byte 11 20h low byte of Data 3 0120h Byte 12 42h checksum Figure 3 9 Serial message contents for Take Data value of kp
89. steps target position advances by 36 counts e is kept constant for 1 step target position advances by 6 counts e decelerates from 6 to 2 in one step target position advances by 4 counts e decelerates from 2 to 0 in the last step target position advances by 1 count Hence the deceleration space is 47 counts which added to 49 counts for acceleration phase and to the 162 counts for constant speed gives exactly the 258 count commanded position Programming Example CACC 1 5 CSPD CPOS CPA MODE PP3 TUM1 UPD IMC WAIT 203 20000 Remarks command acceleration 1 5 encoder counts sampling command speed 20 counts sampling command position 20000 counts command position is absolute set position profile mode 3 keep the position and speed referenc update start the motion set event on motion complete wait for the event to occur e Once a position profile is started you can find when the motion is completed by setting an event on motion complete and waiting until this event occurs see for details par 2 2 e The TML instruction TUM1 must always be executed AFTER setting the motion mode and BEFORE executing the uPD command When a motion mode command is executed it includes the TUMO command However as the new motion mode becomes active only after the UPD command if TUM1 command is set it overwrites TUMO set together with the motion mode Technosoft
90. the current control loop is needed to implement the selected mode thus one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD Technosoft 2006 245 MotionChip Il TML Programming Execution Sets the torque external motion mode reference type Two cases are possible MODE Reference location TEF In the fast loop TES In the slow loop Example MODE TEF Set Torque External reference in fast loop UPD Update immediate Technosoft 2006 246 MotionChip Il TML Programming Name MODE TT Torque test motion mode Motion mode group Syntax MODE TT MODE Torque Test Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 Description MODE TT instruction defines the torque test operating motion mode In this mode the reference module will use the values of specific variables allowing the generation of a saturated ramp or a constant value for the amplitude of the torque current and for the electric angle of the motor Thus one can apply a constant or a rotating current vector to the motor for test or control loops tuning purposes The reference will be generated in the
91. the motion on event Configuration and command group Syntax STOPO STOP motion in mode 0 on event STOP1 STOP motion in mode 1 on event STOP2 STOP motion in mode 2 on event STOP3 STOP motion in mode 3 on event Operands Type TML program On line X X Binary code STOPO 15 14 13 12 11 10 9 8 7 6 5 4 3 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 STOP1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 STOP2 15 14 13 12 11 10 9 8 6 5 4 3 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 STOP3 15 14 13 12 11 10 9 8 5 4 3 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 Description STOP 0 1 2 3 Instruction imposes a motor stop when an event occurs during the motion Four different stop modes can be used as presented in the table bellow Execution Stops the motion by applying a specific reference at the occurrence of a programmed event Four cases are possible Stop Stop method when event occurs STOPO Impose a voltage reference equal to 0 to the motor STOP1 Impose a current reference equal to 0 to the motor STOP2 Impose a speed reference equal to 0 to the motor Impose a speed reference equal to 0 to the motor STOP3 3 using the profiles acceleration value to brake Technosoft 2006 280 MotionChip Il TML Programming Example CACC 1 Acceleration command for speed profile counts sampling CSPD 25 5 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate ISO 10 Set eve
92. the possibility to connect an external SRAM which can be mapped in the last 32K more exactly in the address range 8800h to FFFFh all TML program memory accesses in the address range 0x8000 to 0x87FF are using the internal SRAM By connecting a 32Kx16 external SRAM the total TML program space in SRAM memory becomes from 8200h to FFFFh The data memory space is used to store the TML data registers parameters variables the cam tables during runtime after being copied from the EEPROM memory and for data acquisitions The TML data are stored in reserved area while the others are using the same Motion Chip Il internal SRAM memory In the data memory space the internal SRAM is mapped at a different address range 800h to FFFh From this the first 200h from 800h to 9FFh corresponding to 8000h to 81FFh in TML program memory space are reserved for the internal use The rest from A00h to FFFh corresponding to 8200h to 87FFh in the TML program memory space may be used for data acquisitions and or to store cam tables during runtime As this space is available in both the TML program space and the data space it is the user responsibility to decide how to split it between the two and to avoid overlapping them In the case of TMS320LF2407A if an external SRAM is connected it can be mapped both on the TML program space and in the data space Typically the external SRAM is mapped at the same addresses in both the TML program and the data space Therefo
93. the program flow through o Conditional jumps and calls of TML functions o TML interrupts generated on pre defined or programmable conditions protections triggered detection of 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 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 1 2 TML Environment The TML environment includes three basic components 1 TML processor 2 Trajectory generator 3 Motor control kernel The software implemented TML processor represents the core of the TML environment It decodes and executes the TML commands Like any processor it includes specific elements as program counter stack ALU interrupt management and registers Technosoft 2006 1 MotionChip Il TML Programming The trajectory generator computes the position speed torque or voltage reference at each sampling step depending on the selected motion mode The mot
94. to value32 then VAR16D 2 VAR16D TypeMem VAR32S set amp VAR16D from TM to VAR32S then VAR16D 2 Operands value32 32 bit long immediate value VAR32x long variable DM data memory operand TypeMem memory operand VAR16x contents of variable VAR16x representing a 16 bit address of a variable Type TML program On line X X Binary code VAR32D value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 0 1 0 9LSBs of amp VAR32D LOWORD value32 HIWORD value32 Technosoft 2006 146 MotionChip Il TML Programming VAR32D VAR32S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 1 1 0 9LSBs of amp VAR32D amp VAR32S VAR32D VAR16S lt lt N 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 0 1 0 0 1 0 1 1 N OSNS16 amp VAR32D amp VAR16S VAR32D dm value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 amp VAR32D LOWORD value32 HIWORD value32 VAR32D dm VAR32S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 amp VAR32D amp VAR32S VAR32D VAR16S TypeMem 15 14
95. to copy one or all of them into the SRAM program memory In the last case in order to switch between several cam tables all you need to do is to change the value of the TML parameter CAMSTART which points to the beginning of the cam table to be used when electronic camming slave mode is activated e LoadAddress and RunAddress values be expressed as decimal values Technosoft 2006 41 MotionChip Il TML Programming In IPM Motion Studio you can quickly create or import a cam table using its menu command Tools Edit CAM files For example you can specify your cam table in a simple text file as 2 columns of values expressed in master and slave position units first column for the X points next one for the Y points Using the Import feature IPM Motion Studio translates your data into the cam table format mentioned above files with extension cam You can create as many cam tables as you like Then using the menu command Project Settings General tab you can choose from the list of all cam tables defined the cam s to be used in your application named active cams Using menu command Application Download CAM you can download the active cams into the EEPROM and finally in the Motion Wizard the electronic camming dialogue you can select from the Use Table list of active cams which one to be used Following this selection the TML instruction INITCAM is generated with LoadAddress and RunAddress values automatically computed by IPM Motion Studi
96. units time units for voltage contouring Related TML Variables TPOS TSPD TACC IQREF UQREF APOS ASPD IQ Target position long position reference computed by the reference generator at each slow loop position speed loop sampling period when position or speed contouring is performed During speed contouring TPOS is computed by integrating TSPD Measured in position units Target speed fixed speed reference computed by the reference generator at each slow loop sampling period when position or speed contouring is performed Measured in speed units Target acceleration fixed acceleration deceleration reference computed by the reference generator at each slow loop sampling period when position or speed contouring is performed Measured in acceleration units Current reference computed by the reference generator at each slow loop sampling period when torque contouring is performed Measured in current units Voltage reference computed by the reference generator at each slow loop sampling period when voltage contouring is performed Measured in voltage command units Actual position long motor position measured in position units Actual speed fixed motor speed measured in speed units Motor current measured in current units Related TML Instructions MODE PCx MODE SCx MODE TC MODE VC Set position contouring mode x x 0 1 2 3 Set speed contouring mode x x 0 1 Set torque c
97. 0 0 1 lolo o o o OLSBs of amp VAR16D amp VAR16S VAR32 value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 1 1 1 0 OLSBs of amp VAR32 LOWORD value32 HIWORD value32 VAR32D VAR32S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 0 0 1 0 9LSBs of amp VAR32D amp VAR32S Description Add to the destination variable the value of the source variable or value Store the result in the destination variable Execution destination variable destination variable source variable value Technosoft 2006 168 MotionChip Il TML Programming int Varl long Var10 Varl Var2 Var3 Varll Var1l2 125 Var3 Var2 Var10 128000 Varl2 Varll Before instruction Var1 1256 Var2 22450 Var3 22500 Var10 1201 Var11 25 Var12 12500 169 Technosoft 2006 After instruction Var1 Var2 Var3 Var10 Var11 Var12 MotionChip Il TML Programming 1381 22450 Name Subtract a value from a TML variable Arithmetic amp Logic group Syntax VAR16 value16 subtract from VAR16 value16 VAR16D VAR16S subtract from VAR16D VAR16S value VAR32 value32 subtract from VAR32 value32 VAR32D VAR32S subtract from VAR32D VAR32S value Operands VAR16x integer variable VAR32x long variable
98. 0 0 OxFFFF 0x0100 0X7098 1 OxFDFF 0x0000 1 OxFFFF 0x0200 0X7098 2 OxFBFF 0x0000 2 OxFFFF 0x0400 0X7098 3 OxF7FF 0x0000 3 OxFFFF 0x0800 Technosoft 2006 270 MotionChip Il TML Programming AND OR masks for SETIO n IN AND OR masks for SETIO n OUT PxDATDIR n ANDin ORin n ANDout ORout 0X7098 4 OxEFFF 0x0000 4 OxFFFF 0x1000 0X7098 5 OxDFFF 0x0000 5 OxFFFF 0x2000 0X7098 6 OxBFFF 0x0000 6 OxFFFF 0x4000 0X7098 7 Ox7FFF 0x0000 7 OxFFFF 0x8000 0X709A 8 OxFEFF 0x0000 8 OxFFFF 0x0100 0X709A 9 OxFDFF 0x0000 9 OxFFFF 0x0200 OX709A 10 OxFBFF 0x0000 10 OxFFFF 0x0400 OX709A 11 OxF7FF 0x0000 11 OxFFFF 0x0800 OX709A 12 OxEFFF 0x0000 12 OxFFFF 0x1000 OX709A 13 OxDFFF 0x0000 13 OxFFFF 0x2000 OX709A 14 OxBFFF 0x0000 14 OxFFFF 0x4000 OX709A 15 Ox7FFF 0x0000 15 OxFFFF 0x8000 0X709C 16 OxFEFF 0x0000 16 OxFFFF 0x0100 0X709C 17 OxFDFF 0x0000 17 OxFFFF 0x0200 0X709C 18 OxFBFF 0x0000 18 OxFFFF 0x0400 0X709C 19 OxF7FF 0x0000 19 OxFFFF 0x0800 OX709C 20 OxEFFF 0x0000 20 OxFFFF 0x1000 0X709C 21 OxDFFF 0x0000 21 OxFFFF 0x2000 0X709C 22 OxBFFF 0x0000 22 OxFFFF 0x4000 0X709C 23 Ox7FFF 0x0000 23 OxFFFF 0x8000 OX709E 24 OxFEFF 0x0000 24 OxFFFF 0x0100 0X7095 25 OxFEFF 0x0000 25 OxFFFF 0x0100 0X7095 26 OxFDFF 0x0000 26 OxFFFF 0x0200 0X7095 27 OxFBFF 0x0000 27 OxFFFF 0x0400 0X7095 28 OxF7
99. 0 to RAM memory address 0xA00 UPD Update immediate Technosoft 2006 222 MotionChip Il TML Programming Name MODE CS Set cam slave mode Motion mode group Syntax MODE CSO Set axis in MODE Camming Slave 0 MODE CS1 Set axis in MODE Camming Slave 1 T MODE CS2 Set axis in MODE Camming Slave 2 S MODE CS3 Set axis in MODE Camming Slave 3 S T Operands Type TML program On line X X Binary code MODE CSO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 0 0 1 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 1 0 MODE CS1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 0 1 1 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 1 1 0 MODE CS2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 1 0 1 1 0 0 0 1 1 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 1 0 MODE CS3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 1 1 1 1 0 0 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 Description MODE CS0 CS1 CS2 CS3 instruction set the axis to operate in the slave camming mode Technosoft 2006 223 MotionChip II TML Programming In this mode the reference values re
100. 0 0 0 amp VAR16 Description Sets the value of SPI serial communication baud rate based on the value of the input parameter value16 or VAR16 Baud rates range from 1 to 5 Mbaud The default baud rate value is 1 Mb Execution Sets the SPI serial communication baud rate based on value16 value Value16 SPI baud rate 0 1Mb 1 2 Mb 2 5 Mb Example SPIBR 1 sets the SPI baud rate to 2 Mbaud Technosoft 2006 275 MotionChip Il TML Programming Name SRB SRBL Set reset bits of a variable Arithmetic amp Logic group Syntax SRB VAR16 ANDmask ORmask Set Reset Bits of VAR16 SRBL VAR16 ANDmask ORmask Set Reset Bits of VAR16 long addressing Operands VAR16 integer variable ANDmask 16 bit mask for AND operation ORmask 16 bit mask for OR operation Type TML program On line X X Binary code SRB VAR16 ANDmask ORmask 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 9LSBs of amp VAR16 ANDm ORm SRBL VAR16 ANDmask ORmask 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 amp VAR16 ANDm ORm Description This special instruction allows setting and resetting individually each of the bits of a 16 bit variable The instruction must be used when needing to perform such operations on
101. 0x7098 0x0010 25 0x7095 0x0001 5 0x7098 0x0020 26 0x7095 0x0002 6 0x7098 0x0040 27 0x7095 0x0004 7 0x7098 0x0080 28 0x7095 0x0008 8 0x709A 0x0001 29 0x7095 0x0010 9 0x709A 0x0002 30 0x7095 0x0020 10 0x709A 0x0004 31 0x7095 0x0040 11 0x709A 0x0008 32 0x7095 0x0080 12 0x709A 0x0010 33 0x7096 0x0001 13 0x709A 0x0020 34 0x7096 0x0002 14 0x709A 0x0040 35 0x7096 0x0004 15 0x709A 0x0080 36 0x7096 0x0008 16 0x709C 0x0001 37 0x7096 0x0010 17 0x709C 0x0002 38 0x7096 0x0020 18 0x709C 0x0004 39 0x7096 0x0040 19 0x709C 0x0008 Example1 int Var1 Var1 IN 14 Before instruction After instruction IN 14 logic 1 IN 14 logic 1 state state Var1 x Var1 0x0040 Bit 6 of Var1 has logic value of IN 14 Remaining bits are set Technosoft 2006 144 MotionChip Il TML Programming to 0 Example2 int Var Var1 INPUT1 0x00E7 Before instruction After instruction IN 32 31 30 29 28 27 26 25 IN 32 31 30 29 28 27 26 25 Logic ol1 1 o0 1 1 o 1 Logic o1 1 o 1 1 o 1 state state Var1 x Var1 0x0065 IN 32 31 30 29 28 27 26 25 Port state 0 1 1 1 1 0 1 Bitwise ewe 1 101 0 141 1 1 operation Var1 O 1 1 0 0 1 O 1 Example3 int Var1 Va
102. 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 Expeditor AxisID Answer to get version request 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 Expeditor AxisID ASCII code of first 2 digits of the firmware ID ASCII code of last digit revision letter of the firmware ID Description These instructions allow a host to interrogate a MotionChip Il based drive in order to find the contents of any TML data as well as the value of any memory location from the TML program space EEPROM or SRAM or from the SRAM data space The Get version command offers the possibility to check find which is the firmware version of the drive The firmware version has the form FxyzA where xyz is the firmware number 3 digits and A is a letter for the revision Execution Return the answer messages Technosoft 2006 110 MotionChip Il TML Programming Name IAPO Set event when motor absolute position is over a given value Event group Syntax IAPO value32 if AbsPositionOver value32 IAPO VAR32 if AbsPositionOver VAR32 Operands VAR32 long variable value32 32 bit long immediate value Type TML program On line X X Binary code APO value32 15 14 13 12 11 10 9 8 7 6 5 4 3
103. 1 x Example9 int pVarl long Var2 Very pm Var2 Before instruction pVar1 0x8200 Var2 0xA98711EF program memory 0x8200 x 0x8201 x Example10 int pVarl pVar1 pm 0x5422AFCD Before instruction pVar1 0x8200 program memory 0x8200 x 0x8201 x Example11 int pVarl long Var2 Va pm Var2 Before instruction pVar1 0x8200 Var2 0xA98711EF program memory 0x8200 x Technosoft 2006 150 After instruction pVar1 SPI memory 0x5100 0x5101 After instruction pVar1 Var2 program memory 0x8200 0x8201 After instruction pVar1 program memory 0x8200 0x8201 After instruction pVar1 Var2 program memory 0x8200 0x5100 OxAFCD 0x5422 0x8200 0xA98711EF 0x11EF 0xA987 0x8202 OxAFCD 0x5422 0x8202 0xA98711EF 0x11EF MotionChip Il TML Programming 0x8201 X 0x8201 OxA987 Technosoft 2006 151 MotionChip Il TML Programming Name Assignment instruction for a 16 bits TML local variable with data from another axis multiple axis instruction get data from another axis Multiple axis group Syntax VAR16D Axis VAR16S local VAR16D Axis VAR16S VAR16D Axis VAR16S DM local VAR16D
104. 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 Description After the execution of this instruction the index capture connected to CAPI pin is disabled Use the ENCAPIO or ENCAPI1 instructions to re enable this capture In the disabled mode the index capture is reprogrammed and can be used as a general purpose I O pin By default it is re programmed as an input pin Index capture captures the motor position In order to enable a capture input specify the type of transition to look for Capture transition low gt high or Capture transition high gt low Normally you don t need to disable a capture input as this is automatically done when the programmed transition occurs Use Disable only if you want to disable on purpose a capture input before sensing the transition Execution Disable index input capture Technosoft 2006 195 MotionChip Il TML Programming Name DISIO Disable input bit port I O group Syntax DISIO n DISable lO n Operands n the input output bit port number 0 lt n lt 39 Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 MCRx ANDdis ORdis Description After the execution of this instruction the I O bit port n is disabled Use the ENIO n instruction to re enable this I O bit port In the disabled
105. 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 Description The SAOU instruction sets the automatic origin update mode In this case the variable POSO is changed at an UPDATE event occurrence and needs not to be initialized by the user For successive motions the event tests for relative position will be based on the updated values of the POSO parameter Use instruction RAOU in order to manually update variable POSO Acceleration command for position profile sampling command for position profile counts sampling command counts command is Relative tion Profile Mode 3 matic update mode mmediate d command for position profile sampling t when relative position gt 20000 i e when motor position has done 20000 Execution Sets the automatic origin update Example CACC 0 5 counts CSPD 20 Speed CPOS 90000 Position CPR Position MODE PP3 Set Posi SAOU Set auto UPD Update i CSPD 40 New spee counts IRPO 20000 Set even counts UPD Update o WAIT Wait eve Technosoft 2006 265 n event nt to occur MotionChip Il TML Programming Name SAP Set actual position Configuration and command group Syntax
106. 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 1 1 0 0 0 TypeMem 0 1 amp VAR16S amp VAR32D VAR32D VAR16S TypeMem 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 1 0 0 0 0 TypeMem 0 1 amp VAR16S amp VAR32D VAR16D TypeMem value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 0 1 0 1 0 TypeMem 0 1 amp VAR16D LOWORD value32 HIWORD value32 VAR16D TypeMem VAR32S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Technosoft 2006 147 MotionChip Il TML Programming 1 0 0 1 0 0 0 0 1 0 1 1 TypeMem 0 1 amp VAR16D amp VAR32S VAR16D TypeMem value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 0 0 0 0 0 1 0 TypeMem 0 1 amp VAR16D LOWORD value32 HIWORD value32 VAR16D TypeMem VAR32S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 _ 1 0 0 1 0 0 0 0 0 0 1 TypeMem 0 1 amp VAR16D amp VAR32S Description Assign the 32 bit value of the source operand to the 32 bit destination variable Execution destination variable source value TypeMem DM 01 PM 00 SPI 10 Example1 long Varl varl 0x1122AABB Before instruction After instruction Var1 X Var1 0x1122AABB Example2 lon
107. 16LSB of a 32 bit long or fixed value value32 H 16MSB of a 32 bit long or fixed value Technosoft 2006 107 MotionChip Il TML Programming Name Get data On line commands send by a host the answers On line group Syntax VAR16 GiveMeData 16 bit from SRAM data memory VAR32 GiveMeData 32 bit ffom SRAM data memory GiveMeData 16 bit from SRAM program memory GiveMaData 32 bit from SRAM program memory GiveMeData 16 bit from EEPROM program memory GiveMeData 32 bit from EEPROM program memory TakeData requested with GiveMeData 16 bit data TakeData requested with GiveMeData 32 bit data Get a 16 bit TML data address range 200 3FFh Get a 32 bit TML data address range 200 3FFh Take the 16 bit TML data requested with Get a 16 bit TML Take the 32 bit TML data requested with Get a 32 bit TML Get version Operands Type Binary code Answer to Get version request VAR16 integer variable VAR32 long fixed variable TML program Online X VAR16 GiveMeData 16 bit from SRAM data memory 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 Expeditor AxisID Data memory address from where to read data requested amp VAR16 2VAR32 GiveMeData 32 bit from SRAM data memory 15 14 1
108. 2 Operands D_time 16 bit integer immediate value D_ref 32 bit long immediate value VAR32 long variable VART6 integer variable Type TML program On line X Binary code SEG D time D ref 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 D_ time LOWORD D ref HIWORD D ref SEG VAR16 VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 1 1 0 OLSBs of amp VAR16 amp VAR32 Description The SEG instruction is used in the contouring mode to generate the reference describing one of the segments of the contour Its parameters represent the number of sampling periods over which that segment will be generated respectively the value of reference increment added to the actual value of the reference at each sampling moment The reference is updated in the slow sampling interrupt routine position speed control loop See Motion Programming chapter for details about contouring reference mode and its parameters Execution Generate a segment for the next D_time VAR16 time samplings at each sampling increment the reference with D_ref VAR32 Example MODE PC3 Set Position Contouring Mode 3 SEG 100U 5 00000 Set 1 motion segment UPD Update immediate SEG 100U 5 00000 Set 2 motion segment SEG 100U 20 00000 Set 3 motion segment SEG 100U 10 00000 Set 4 m
109. 2 1 0 0 1 1 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 LOWORD value32 HIWORD value32 IAPO VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 amp VAR32 Description Program the detection of the event when the motor position is greater than the specified value An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when motor position gt value32 or VAR32 respectively The bits 14 and 11 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 1 5 Acceleration command for speed profile counts sampling CSPD 20 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate CSPD 40 New speed command counts sampling APO 60000 Set event when absolute position gt 60000 counts UPD Update on event Technosoft 2006 111 MotionChip Il TML Programming Name IAPU Set event when motor absolute position is under a given value Event group Syntax APU value32 if AbsPositionUnder value32 IAPU VAR32 if AbsPositionUnder VAR32 Operands VAR32 long variable val
110. 2006 175 Var 0x001256AB PROD 0x014FD31B7000 Var2 0x014FD31B After instruction Var2 Var3 PROD Var9 0x001256AB 0x125 0x0000014FD31B 0x0000014F After instruction Var2 Var3 PROD Var9 0x001256AB 0x125 0x0014FD31B700 0xFD31B700 MotionChip Il TML Programming Name gt gt Shift right Arithmetic amp Logic group Syntax VAR16 gt gt N shift VAR76 right by N VAR32 gt gt N shift VAR32 right by N PROD gt gt N shift PROD product reg right by N Operands VAR16 integer variable VAR32 long variable PROD product register N shift factor Type TML program On line X X Binary code VAR16 gt gt N 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 0 1 0 0 0 0 0 0 0 N OSNs15 amp VAR16 VAR32 gt gt N 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 0 1 0 0 1 0 0 0 0 N OSNs15 amp VAR32 PROD gt gt N 15 14 13 12 11 10 9 8 6 5 4 3 2 1 0 1 0 0 0 1 0 0 0 1 0 0 0 N OSNs15 Description Right shift the source operand with the specified number of bits N Fill the most significant bits with the sign bit sign extension mode applied all values are considered as signed values Execution Value Value shifted to right with N bits Example1 int Varl Varl gt gt
111. 32D to VAR32S value Operands VAR16x integer variable VAR32x long variable VAR32x Type TML program On line X Binary code VAR16D VAR16S 145 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 1 0 0 0 9LSBs of amp VAR16D amp VAR16S VAR32D VAR32S 145 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 1 0 1 0 9LSBs of amp VAR32D amp VAR32S Description Assign to the variable its inverse value Execution variable variable Example int Varl long Var2 Vari Varl Var2 Varl Before instruction After instruction Var1 1256 Var1 1256 Var2 22450 Var2 1256 Technosoft 2006 167 MotionChip Il TML Programming Name Add a value to a TML variable Arithmetic amp Logic group Syntax Operands Type Binary code VAR16 value16 VAR16D VAR16S VAR32 value32 VAR32D VAR32S VAR16x integer variable VAR32x long variable add to VAR16 value16 add to VAR16D VAR16S value add to VAR32 value32 add to VAR32D VAR32S value value16 16 bit immediate integer value value32 32 bit immediate long value TML program On line X VAR16 value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 1 1 0 0 9LSBs of amp VAR16 value16 VAR16D VAR16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
112. 5 0x7094 OxFFFE 0x0000 0x7090 OxFFDF 0x0000 26 0x7094 OxFFFD 0x0000 0x7090 OxFFBF 0x0000 27 0x7094 OxFFFB 0x0000 0x7090 OxFF7F 0x0000 28 0x7094 OxFFF7 0x0000 0x7090 OxFEFF 0x0000 29 0x7094 OxFFEF 0x0000 0x7090 0xFDFF 0x0000 30 0x7094 OxFFDF 0x0000 0x7090 0OxFBFF 0x0000 31 0x7094 OxFFBF 0x0000 0x7090 OxF7FF 0x0000 32 0x7094 OxFF7F 0x0000 0x7090 OxEFFF 0x0000 33 0x7094 OxFEFF 0x0000 0x7090 OxDFFF 0x0000 34 0x7094 OxFDFF 0x0000 0x7090 OxBFFF 0x0000 35 0x7094 OxFBFF 0x0000 0x7090 0x7FFF 0x0000 36 0x7094 0xF7FF 0x0000 0x7092 OxFFFE 0x0000 37 0x7094 OxEFFF 0x0000 0x7092 OxFFFD 0x0000 38 0x7094 OxDFFF 0x0000 0x7092 OxFFFB 0x0000 39 0x7094 OxFFFF 0x0000 0x7092 OxFFF7 0x0000 Technosoft 2006 211 MotionChip Il TML Programming Name ENLSNO Enable falling edge front detection on negative limit switch I O group Syntax ENLSNO Enable Limit Switch Negative 1 gt 0 Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 Description After the execution of this instruction the DSP will detect the first transition from 1 to 0 on the negative limit switch input
113. 6D 2 A G V16D V16S A G V16D local V16S A G V16D dm V16S A G V16D dm local V16S la A G V32D V32S A G V32D local V32S A G V32D dm V32S A G V32D dm local V32S la V16D A V16S TM Local V16D A V16S dm V16D A V16S TM Local V16D A V16S dm then V16S 1 V16D A V16S Local V16D A V16S Technosoft 2006 104 MotionChip Il TML Programming V16D A V16S dm Local V16D A V16S dm la V32D A V32S dm Local V32D A V32S dm la V32D A V16S TM Local V32D A V16S TM V32D A V16S TM Local V32D A V16S TM then V16S 2 V32D A V32S Local V32D A V32S ADDGRID ADDGRID V16 Add Group ID V16 ADDGRID val16 Add Group ID val16 AXISID AXISID val16 AXIS ID val16 AXISID V16 AXIS ID V16 CANBR CANBR val16 Set CAN bus Baud Rate GROUPID GROUPID val16 GROUP ID val16 REMGRID REMGRID V16 Remove Group ID V16 REMGRID val16 Remove Group ID val16 Table 4 9 Miscellaneous group Mnemonic Description BEGIN BEGIN BEGIN of a TML program CHECKSUM CHECKSUM TM Start Stop V16D Checksum between Start and Stop addresses from TM V16D INITCAM INITCAM addrS addrD i table from SPI addrS address to RAM addrD END END END of a TML program NOP NOP No Operation SCIBR SCIBR V16 Set SCI Baud Rate SCIBR val16 Set SCI Baud Rate SPIBR SPI
114. 6D 2 V16D TM val16 V16D from TM val16 then V16D 1 V16D TM val32 V16D from TM val32 then V16D 2 V16 label V16 address of a TML label V16 val16 V16 val16 V16D V16S TM V16D amp V16S from TM V16D V16S TM V16D amp V16S from TM then V16S 1 V16D V16S V16D V16S V16D V16S V16D V16S V16D V32S H V16D V32S H V16D V32S L V16D V32S L V16D dm V16S V16D from dm V16S la V16D dm val16 V16 from dm val16 la V32 val32 V32 val32 V32 H val16 V32 H val16 V32 L val16 V32 H val16 V32D V16S TM V32D V16S from TM V32D V16S TM V32D V16S from TM then V16D 2 V32D V32S V32D V32S V32D V32S V32D V32S V32D V16S lt lt N V32D V16S left shifted by N Technosoft 2006 102 MotionChip Il TML Programming V32D H V16S V32D H V16 V32D L V16S V32D L V16 V32D dm V32S V32D from dm V32S la V32D dm val32 Table 4 6 Arithmetic amp Logic group Mnemonic V16 val16 V32 from dm val32 la Description Add val16 to V16 V16D V16S Add V16S to V16D V32 val32 Add val32 to V32 V32D V32S Add V32S to V32D V16 val16 Subtract val16 from V16 V16D V16S Subtract V16S from V16D V32
115. 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 0 1 1 1 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 MODE PP2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 1 0 1 1 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 MODE PP3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 1 1 1 1 0 0 0 0 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 Description MODE PPO PP1 PP2 PP3 instructions define the position control operating in the profile reference motion mode In this mode the reference module will generate a position value with a trapezoidal speed profile Technosoft 2006 231 MotionChip Il TML Programming The reference will represent a position reference value The reference will be generated in the slow control loop position speed loop See Motion Programming chapter for details about profile reference parameters and implementation Depending on the selected option PPO PP1 PP2 or PP3 some of the internal control loops speed and current are activated or not depending on the system structure see below table Note that for all the control loops needed to implement the selected mode position speed current one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD
116. Axis VAR16S DM VAR16D Axis VAR16S TypeMem local VAR16D Axis amp VAR16S TM VAR16D Axis VAR16S TypeMem local VAR16D Axis amp VAR16S TM then V16S 1 Operands VAR16x integer variable Axis 8 bit ID for source axis DM data memory operand TypeMem memory operand One of dm 0x1 pm 0x0 or spi 0x2 values VAR16x contents of variable VAR16x representing a 16 bit address of a variable Type TML program On line X Binary code VAR16D Axis VAR16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 1 1 0 0 0 0 9LSBs of amp VAR16S 0 0 0 0 Axis 0 0 0 0 amp VAR16D VAR16D Axis VAR16S dm 15 14 13 12 11 10 9 8 7 6 5 4 3 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 Axis 0 0 0 amp VAR16S amp VAR16D VAR16D Axis VAR16S TypeMem 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 1 0 1 1 0 0 0 TypeMem 0 0 0 0 0 0 Axis 0 0 0 0 amp VAR16S amp VAR16D Technosoft 2006 152 MotionChip Il TML Programming VAR16D Axis VAR16S TypeMem 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 1 0 1 0 0 0 0 TypeMem 0 0 0 0 0 0 Axis 0 0 0 0 amp VAR16S amp VAR16D Description Bring the 16 bit value of the source operand from an external axis and assign it to the 16 bit destination local variable Execution local 16 bit destination
117. AxisID SRAM data SRAM program or EEPROM memory address of data requested Data requested TakeData requested with GiveMeData 32 bit data 15 14 13 12 11 10 9 8 7 6 5 3 1 0 4 1 1 0 1 0 0 0 0 0 0 0 1 a Expeditor AxisID SRAM data SRAM program or EEPROM memory address of data requested Data requested 16LSB Data requested 16MSB Get a 16 bit TML data the TML data address must be in range 200 3FFh 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 0 0 9LSBs of amp VAR16D Expeditor AxisID Get a 32 bit TML data the TML data address must be in range 200 3FFh Technosoft 2006 109 MotionChip Il TML Programming 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 o 1 o o 1 0 OLSBs of amp VAR32D Expeditor AxisID Take the 16 bit TML data requested with Get 16 bit TML data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 1 0 1 0 0 9LSBs of amp VAR16D Expeditor AxisID Data requested Take the 32 bit TML data requested with Get 32 bit TML data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 o 1 0 1 1 0 OLSBs of amp VAR32D Expeditor AxisID Data requested 16 LSB Data requested 16 MSB Get version 15 14 13 12 11 10 9 8 7 6 5 4 3 2
118. BR V16 Set SPI Baud Rate SPIBR val16 Set SPI Baud Rate Table 4 10 On line group Mnemonic Syntax Description GiveMeData 16 bit from SRAM data memory GiveMeData 32 bit from SRAM data memory GiveMeData 16 bit from SRAM program memory GiveMaData 32 bit from SRAM program memory GiveMeData 16 bit from EEPROM program memory GiveMeData 32 bit from EEPROM program memory TakeData requested with GiveMeData 16 bit data TakeData requested with GiveMeData 32 bit data Get a 16 bit TML data address range 200 3FFh Get a 32 bit TML data address range 200 3FFh Take the 16 bit TML data requested with Get a 16 bit TML Take the 32 bit TML data requested with Get a 32 bit TML Technosoft 2006 105 MotionChip Il TML Programming Take a 32 bit TML data address range 200 3FFh Get version Answer to Get version 4 1 TML instruction set description This paragraph presents for each TML instruction mnemonic arguments binary code and programming examples TML instructions are ordered alphabetically Instructions descriptions may contain specific symbols Their significance is presented in Table 4 11 The information is grouped as follows instruction name syntax operands type binary code description execution example Table 4 11 TML Instructions Code Symbols amp Label Address of TML pro
119. CAM 0x4500 0xE500 copy cam table from E2ROM at address 0x4500 to SRAM at address 0xE500 EXTREF 0 receive master position via a communication channel EIR 0x081A set EIR variable with address of MASTERRES EIR dm 2000L set MASTERRES 2000 MODE CS3 set cam slave mode 3 UPD update activate cam slave mode Slave starts following the master position On master axis SLAVEID 1 slave axis has Axis ID 1 SGM set electronic camming master mode UPD update activate new mode Master starts sending its actual position APOS In the electronic camming mode the slave computes a position increment which is added to its current position Technosoft 2006 45 MotionChip Il TML Programming When the master moves in the positive direction the slave position increment is DY Y Y_1 if in the cam where Y f X is the actual cam table output and Y_1 f X_1 is the previous cam table output In the cam condition is when both X and X_ inputs are between the minimum Xmin and maximum Xmax input values DY Y Ymin on cam entry where Y f X is the actual cam table output and Ymin f Xmin is the first cam table output point On cam entry condition is when actual X is inside cam table i e X gt Xmin but the previous X_1 was outside the cam table i e X_1 lt Xmin DY Ymax Y_1 on cam exit where Ymax f Xmax is the
120. CAP Set event when a capture is triggered Event group Syntax ICAP if CAPture triggered Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 1 0 Description Program the detection of the event when one of the external captures from encoder index CAPI or from second encoder 2CAPI was detected and triggered by the DSP An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when an external capture was triggered The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 1 5 Acceleration command for speed profile counts sampling CSPD 20 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate ENCAPIO Activate CAPI input to trigger a falling transitions CSPD 40 New speed command counts sampling CAP Set event when capture is triggered UPD Update on event Technosoft 2006 114 MotionChip Il TML Programming Name N n Set event when data from input n is 0 or 1 Event group Syntax IN n 0 if Input n is 0 UN n 1 if Input n is 1 Operands n bit port number 0 lt n lt 39
121. CO PC1 PC2 or PC3 some of the internal control loops speed and current are activated or not depending on the system structure Note that for all the control loops needed to implement the selected mode position speed current one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD Execution Sets the position contouring motion mode Four cases are possible MODE Position User Speed Current controller controller controller PCO NI 5 PC1 PC2 y V PC3 V Example MODE PC3 Set Position Contouring Mode 3 SEG 100U 5 00000 Set 1 motion segment Increment position reference with 5 counts for the next 100 sampling periods UPD Update immediate SEG 100U 5 00000 Set 2 motion segment SEG 100U 20 00000 Set 3 motion segment SEG 100U 10 00000 Set 4 motion segment SEG 0 0 End of contouring mode Technosoft 2006 228 MotionChip Il TML Programming Name MODE PE Position external motion mode Motion mode group Syntax MODE PEO MODE Position External 0 MODE PE1 MODE Position External 1 T
122. Drive 10 17 485TxEn RS485 RS485 transceiver transceiver 485A R T 485B R T Figure 3 2 Multi drop network using serial RS 485 communication Technosoft 2006 85 MotionChip Il TML Programming z oa A A O O MCII Drive CAN transceiver CAN transceiver 20 MCII Drive MCII Drive MCII Drive transceiver CAN HI Figure 3 4 Multi drop network using CAN bus communication with host connected through RS 232 to an axis used as communication relay 3 2 Communication protocols 3 2 1 Axis Identification in a Multiple axis Network In multiple axis configurations each axis drive needs to be identified through a unique number the axis ID This is a number between 1 and 255 The axis ID is initially set at power on by reading the MotionChip II analogue input lines ADCIN10 to ADCIN14 as follows Axis ID 255 if all the analogue inputs ADCIN10 to ADCIN14 are high Axis ID 1 to 31 if at least one of the ADCIN10 to ADCIN14 inputs is low The axis ID value depends on the analogue inputs combination see Table 3 1 Technosoft 2006 86 MotionChip Il TML Programming Later on you can change the axis ID to any of the 255 possible values using the TML instruction AXISID followed by an integer value between 1 and 255 Table 3 1 Axis ID values ADCIN10 ADCIN11 ADCIN12 ADCIN13 ADCIN14 AXISID
123. FF 0x0000 28 OxFFFF 0x0800 0X7095 29 OxEFFF 0x0000 29 OxFFFF 0x1000 0X7095 30 OxDFFF 0x0000 30 OxFFFF 0x2000 0X7095 31 OxBFFF 0x0000 31 OxFFFF 0x4000 0X7095 32 Ox7FFF 0x0000 32 OxFFFF 0x8000 0X7096 33 OxFEFF 0x0000 33 OxFFFF 0x0100 0X7096 34 OxFDFF 0x0000 34 OxFFFF 0x0200 0X7096 35 OxFBFF 0x0000 35 OxFFFF 0x0400 0X7096 36 OxF7FF 0x0000 36 OxFFFF 0x0800 0X7096 37 OxEFFF 0x0000 37 OxFFFF 0x1000 0X7096 38 OxDFFF 0x0000 38 OxFFFF 0x2000 0X7096 39 OxBFFF 0x0000 39 OxFFFF 0x4000 Technosoft 2006 271 MotionChip Il TML Programming Name SGM Set gear master mode Configuration and Command group Syntax SGM Set axis as Gear Cam Master Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 Description Execution Example SGM instruction sets the axis in the gear cam master operation mode In those modes the position reference values computed for the master axis the local axis will also be sent to the slave axes The master will use the SLAVEID parameter in order to generate the address of slave axes toward which the gearing camming value is sent Depending on the Electronic gearing camming mode bit of OSR register bit 15 the value sent to the slaves is the master actual position APOS
124. Flag the variable specified is compared to 0 using one of the following test conditions variable EQ 0 Il variable 0 EQUAL variable NEQ 0 Il variable 0 NON EQUAL variable LT 0 Il variable lt 0 LESS THAN variable LEQ 0 Il variable lt 0 LESS OR EQUAL variable GT 0 Il variable gt 0 GREATER THAN variable GEQ 0 Il variable gt 0 GREATER OR EQUAL The CALL instruction is executed only if the test condition is satisfied Flag LT 0x0090 LEQ 0x0088 EQ 0x00C 0 NEQ 0x00A0 GT 0x0084 GEQ 0x0082 Example1 CALL fctl i_varl GEO call function fctl if i_varl gt 0 CALL fetl i_varl EQ call function fctl if i_varl 0 CALL fctl i_varl NEQ call function fctl if i_varl 0 CALL fctl unconditional call of function fctl bott RET Example2 int my_pos Technosoft 2006 186 MotionChip Il TML Programming my_pos 2000 CALL MOVEP execute a first motion of 2000 counts My_pos 4000 CALL MOVEP ASPD GT execute a second motion of 4000 counts if motor speed gt 0 MOVEP function to move up to a specified position CACC 1 5 acceleration 1 5counts sampling2 CSPD 20 slew speed 20counts sampling CPOS my_pos position command input argument UPD start the motion RET exit from function MOVEP END Technosoft 2006 187 MotionChip Il TML Programming Name CANBR Set the baud r
125. In order to reuse it you need to enable it again If you have a limit switch input enabled to detect transitions and you want to disable this capability before sensing the transition use the following TML instructions DISLSP Deactivate LSP input capability to detect transitions DISLSN Deactivate LSN input capability to detect transitions Remarks e The main task of the limit switches i e to protect against accidental moves outside the working area is performed independently of the fact if the limit switches are enabled or not to detect transitions e You can disable the limit switches by executing the following TML code once at the beginning of the TML program user_var 0x0832 Set variable user_var with value 0x0832 user_var dm 1 Il Write 1 at data memory address 0x0832 Following this command the active levels on limit switch inputs will no longer block the movement in the wrong direction The capability to detect transitions remains unchanged e You can read the status of the limit switches inputs like any other general purpose inputs using the TML instructions var IN 2 Il read status of the positive limit switch input var IN 24 Il read status of the negative limit switch input Technosoft 2006 66 MotionChip Il TML Programming 2 4 Assignment amp Data Transfer 2 4 1 Setup 16 bit variable The TML instructions presented in this paragraph help you to program assignment operations invo
126. Ivar L OxFFFF lvar H 0 II Ivar H 0 Ivar 65535 0x0000FFFF 5 Source a memory location indicated through a pointer variable Destination 32 bit TML data The memory location can be of 3 types SRAM data memory dm SRAM memory for TML programs pm EEPROM SPl connected memory for TML programs spi If the pointer variable is followed by a sign after the assignment the pointer variable is incremented by 2 The destination can be either a long or a fixed TML data p_var 0x4500 II set 0x4500 in pointer variable p_var varl p_var spi var1 value of the EEPROM memory location 0x4500 varl p_var spi var1 value of the EEPROM memory location 0x4500 Il p_var 0x4502 p_var 0x8200 II set 0x8200 in pointer variable p_var varl p_var pm var1 value of the SRAM program memory location 0x8200 varl p_var pm var1 value of the SRAM program memory location 0x8200 Il p_var 0x8202 p_var 0xA00 II set OxA00 in pointer variable p_var varl p_var dm var1 value of the SRAM data memory location OxA00 varl p_var dm var1 value of the SRAM data memory location OxA00 Il p_var OxA02 Remark Check the memory map par 1 8 for the valid address ranges of the 3 memory types EEPROM memory for TML programs SRAM memory for TML programs SRAM data memory 6 Source 32 bit immediate value decimal or hexadecimal or a 32 bit TML data Destination a memory location indicated through a pointe
127. M memory the default start address proposed is C000h i e half of the overall external SRAM space e Data acquisitions may start directly from address 8000h if this is the beginning of the external SRAM When used as data memory the external SRAM is also visible in the range 8000h to 87FFh When used as program memory the same address range is mapped into the internal SRAM However if you plan to examine the memory contents using an IPM Motion Studio tool like View Memory be aware that the values displayed in the range 8000h to 87FFh do not represent the data acquisition results but the internal SRAM values Technosoft 2006 12 MotionChip Il TML Programming 4000h TML program space E ROM memory SPl connected A00h Data memory space Internal SRAM memory FFFh Internal SRAM memory 8200h TML Program space Internal SRAM memory External SRAM memory Data memory space External SRAM memory 87FFh 8800h TML Program space External SRAM memory FFFFh Figure 1 2 Memory map MotionChip Il based on TMS320LF2407A Technosoft 2006 13 MotionChip Il TML Programming 4000h TML program space E ROM memory SPl connected A00h Data memory space Internal SRAM memory FFFh Internal SRAM memory 8200h TML Program space Internal SRAM memory 87FFh Figure 1 3 Memory map MotionChip Il based on TMS320LF2406 1 9 AUTORUN mode After power on the MotionChip Il checks the status of its analogue input ADCINO
128. MODE SE1 MODE Speed External 1 T Operands Type TML program On line X X Binary code MODE SEO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 MODE SE1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 Description MODE SEO SE1 instruction defines the speed control operating in the external reference motion mode In this mode the reference module will use an external reference as previously defined by the EXTREF instruction The reference will represent a speed reference value in speed control structures The reference will be generated in the slow control loop position speed loop See Motion Programming chapter for details about external reference parameters and implementation Depending on the selected option SEO SE1 the internal current control loop is activated or not depending on the system structure Note that if the current control loop is needed to implement the selected mode MODE SE1 one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPDI Technosoft 2006 237 MotionChip Il TML Programming Execution Sets the speed external motion mode reference type Two cases a
129. N limit switch DISLSP DISLSP Disable LSP limit switch EN2CAPIO EN2CAPIO Enable 2nd CAPI capture for 1 gt 0 EN2CAPI1 EN2CAPI1 Enable 2nd CAPI capture for 0 gt 1 ENCAPIO ENCAPIO Enable CAPI capture for 1 gt 0 ENCAPI1 ENCAPI1 Enable CAPI capture for 0 gt 1 ENIO n ENIO n Enable 10 n ENLSNO ENLSNO Enable LSN limit switch for 1 gt 0 ENLSN1 ENLSN1 Enable LSN limit switch for 0 gt 1 ENLSPO ENLSPO Enable LSP limit switch for 1 gt 0 Technosoft 2006 101 MotionChip Il TML Programming ENLSP1 ENLSP1 Enable LSP limit switch for 0 gt 1 OUTPORT OUTPORT V16 Set OUT 28 31 with V16 value 4LSB ROUT n ROUT n Reset IO n output to 0 SETIO n SETIO n IN Set IO n as input SETIO n OUT Set IO n as output SOUT n SOUT n Set IO n output to 1 V16D IN n Read input n V16D IN1 IN2 ANDm V16D INPUT1 ANDm V16D INPUT2 ANDm V16D INPORT n V16D INPORT ANDm Read IN 4 to IN 11 with ANDm Read IN 25 to IN 32 with ANDm Read IN 33 to IN 39 with ANDm Read one input from IN 33 to 39 Read IN 36 39 in V16D 4LSB Table 4 5 Assignment group Mnemonic Description V16D TM V16S V16D from TM V16S V16D TM V32S V16D from TM V32S V16D TM val16 V16D from TM val16 V16D TM val32 V16D from TM val32 V16D from TM V16S then V16D 1 V16D TM V16S V16D TM V32S V16D from TM V32S then V1
130. NITCAM LoadAddress RunAddress InitCam table from LoadAddress to RunAddress Operands LoadAddress SPI drive memory type E7PROM RunAddress RAM drive memory Type TML program On line X Binary code INITCAM LoadAddress RunAddress 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 1 0 1 1 0 0 0 0 1 0 0 0 0 0 0 Load address Run address Description The INITCAM instruction copies the selected CAM Table from the drives E2ROM memory to the drives RAM memory where the CAM Table must reside while electronic camming is enabled The LoadAddress represents the address decimal number of E ROM memory where the selected CAM Table was loaded The RunAddress parameter decimal number specifies address in the RAM memory of the Technosoft drive where the CAM profile Table resides at run time Note that in order to copy a CAM table using this instruction the following steps must be done e The cam must be created or imported before e The cam must be selected as an active cam e The cam must be downloaded to the drive The Download CAM files command downloads into the drives E7ROM memory all the active cams selected e The cam must be selected from the Use Table list of cams available into the E ROM memory Execution Copy CAM table from drive s SPI memory to drive s RAM memory Example INITCAM 18864 2560 Copy CAM table from SPI memory address 0x49B
131. ODE Position Contouring 0 MODE PC1 MODE Position Contouring 1 T MODE PC2 MODE Position Contouring 2 S MODE PC3 MODE Position Contouring 3 S T Operands Type TML program On line X X Binary code MODE PCO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 0 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 MODE PC1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 0 1 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 MODE PC2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 MODE PC3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 1 1 1 1 0 0 0 0 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 Description MODE PCO PC1 PC2 PC3 instruction defines the position control operating in the contouring reference motion mode In this mode the reference module will perform linear interpolation based on motion segments described using the SEG instruction Technosoft 2006 227 MotionChip Il TML Programming The reference will represent a position reference value in position control structures The reference will be generated in the slow control loop position speed loop See Motion Programming chapter for details about contouring reference parameters and implementation Depending on the selected option P
132. OG_PTR Internal pointer to logger buffer Bits 15 2 bits 15 2 of LOG START _ADDR Bits 1 0 logger active in 01 Speed Position control loop 10 Current control loop Example for the acquisition of APOS and ATIME variables in speed position loop period The acquisition buffer starts at the address 0x0A00 Buffer Address data hex Name Description 0A00 012C N_POINTS Acquisition of 300 points 0A01 0004 INT_CNT Internal counter It must be initialized with the same value as sampling multiplier 5 0A02 0004 S_MULTPL Sampling multiplier 4 i e 1 acquisition point at 4 D samplings 0A03 0A09 FREE LOC The address of next free buffer location 0A04 0228 ADDR1 The address of APOS variable 32 bits low part 3 0A05 0229 ADDR2 The address of APOS variable 32 bits high part 0A06 02C0 ADDR3 The address of ATIME variable 32 bits low part 0A07 02C1 ADDR4 The address of ATIME variable 32 bits high part 0A08 0000 END LIST End of address list 0 value k E 0A09 xxxx Acquired value APOS L first point A 2 OAOA xxxx Acquired value APOS H first point OAOB xxxx Acquired value ATIME L first point Technosoft 2006 16 MotionChip Il TML Programming OAOC xxxx Acquired value ATIME H first point OAOD xxxx Acquired value APOS L second point OAOE xxxx Acquired value
133. R16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 1 0 1 1 TypeMem 0 0 0 0 0 0 Axis Group 0 0 0 0 amp VAR16D amp VAR16S Axis Group VAR16D TypeMem VAR16S Technosoft 2006 158 MotionChip Il TML Programming 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 0 1 1 TypeMem 0 0 0 0 0 0 Axis Group 0 0 0 0 amp VAR16D amp VAR16S Description Send the 16 bit local value of the source operand to an external axis and assign it to the 16 bit destination external variable Execution external 16 bit destination variable from another axis local source 16 bit value TypeMem DM 01 PM 00 SPI 10 Example1 int VarLoc VarExt G8 VarExt VarLoc Before instruction After instruction VarLoc on local axis 0x1234 VarLoc on local axis 0x1234 VarExt on all axes x VarExt on all axes 0x1234 belonging to group 8 from group 8 Example2 int VarLoc VarExt 15 VarExt dm VarLoc Before instruction After instruction VarLoc on local axis 0x1234 VarLoc on local axis 0x1234 VarExt on axis 15 x VarExt on axis 15 0x1234 Example3 int VarLoc pVarExt G8 pVarExt dm VarLoc Before instruction After instruction VarLoc on local axis OxFEDC VarLoc on local axis OxFEDC pVarExt on all ax
134. SR 15 0 i e bit 15 from OSR register is 0 or the position reference if OSR 15 1 once at each slow loop speed position loop sampling time interval e The signals of the encoder connected to the master drive are also connected to the 2nd encoder input of the slave drives In both cases the slaves perform a position control The master position represents the input in the cam table The output of the cam table is the slave position reference Between the cam table points linear interpolation is performed Remarks You need to program a drive as master in electronic camming only if the master position is sent via a communication channel If actual position is sent the master can work in any motion mode If target position is sent the master should work in a mode that generates a target position By default the slow loop sampling period is set at 1ms If you intend to use the RS 485 to send a master position be aware that the transmission time for this operation at maximum baudrate of 115200 is close to 1ms and therefore occupies almost the entire communication bandwidth One way to reduce the overall communication charge is to increase with 50 100 the slow loop sampling period Master mode The master mode is the same as for electronic gearing It can be enabled with the TML command SGM followed by an UPD update and can be disabled by the TML command RGM followed by an UPD In both cases this has no effect on the motion executed
135. TML variables that can be changed during the execution of the real time motion program The SRB instruction will perform the modification of the bits of variable VAR16 such that no interference between this modification and possible real time modification occurs Execution Reset in VART6 all the bits that are 0 in the corresponding position of ANDmask Set in VAR76 all the bits that are 1 in the corresponding position of ORmask Example int varl SRB varl OxFFOF 0x0003 Reset bits 4 to 7 set bits 0 and 1 of varl Technosoft 2006 276 MotionChip Il TML Programming Name STA Set target position to actual position Configuration and command group Syntax STA Set Target position Actual position Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 Description STA instruction sets the value of the target position the position reference to the value of the actual motor position This can be useful for example for actualization of the reference during the execution of a given reference profile when changing on the fly the reference value allows one to re start from a O error point the reference generation and motion execution Execution APOS gt TPOS Example MODE PC2 Set Position Contouring Mode 2 TUM1 Se
136. T_ADDR 1 INT_CNT Internal sampling counter It must be initialized with the same value as sampling multiplier LOG_START_ADDR 2 S_MULTPL_ Sampling multiplier LOG_START_ADDR 3 FREE_LOC The address of next free buffer location It must be 3 initialized with 3 LOG _START_ADDR 4 NO_16B_VARS D LOG_START_ADDR 4 ADDR1 1 16 bit location address which it will be acquired OO s LOG_START_ADDR 5 ADDR2 2 16 bit location address which it will be acquired LOG_START_ADDR 6 ADDR3 3 16 bit location address which it will be acquired LOG_START_ADDR 3 ADDRn Last 16 bit location address which it will be acquired NO_16B_VARS LOG_START_ADDR 4 END_LIST End of address list 0 value NO_16B_VARS LOG_START_ADDR 5 1 16 bit data acquired first point NO_16B_VARS LOG_START_ADDR 6 2 16 bit data acquired first point 5 NO _16B_VARS 5 co 2 LOG_START_ADDR 6 1 16 bit data acquired second point Q 2 NO_16B_VARS LOG_START_ADDR 7 2 16 bit data acquired second point 2 NO_16B_VARS Technosoft 2006 15 MotionChip Il TML Programming LOG_START_ADDR 4 Last 16 bit data acquired last point NO_16B_VARS N_POINTS NO_16B_VARS Note 1 The LOG_START_ADDR must have the bits 0 and 1 set to 0 i e a value multiple of 4 2 NO_16B_VARS number of 16 bit locations which must be acquired 3 A 32 bit variable can be acquired as 2 x 16 bit variables Address Name Description 0x0365 L
137. X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 Description After the execution of this instruction the index2 capture connected to 2CAPI pin is disabled Use the EN2CAPIO or EN2CAPI1 instructions to re enable this capture In the disabled mode the index2 capture is reprogrammed and can be used as a general purpose I O pin By default it is re programmed as an input pin Index2Capture captures the master position The master position can be captured only in the following conditions e The encoder signals from the master system are connected to the 2nd encoder input of the drive e The drive is set as slave either in electronic gearing or electronic camming with option Read master position from 2nd encoder input activated In order to enable the index2 capture input specify the type of transition to look for index2 Capture transition low gt high or index2 Capture transition high gt low Normally you don t need to disable the index2 capture input as this is automatically done when the programmed transition occurs Use Disable only if you want to disable on purpose the index2 capture input before sensing the transition Execution Disable index2 input capture Technosoft 2006 194 MotionChip Il TML Programming Name DISCAPI Disable index capture I O group Syntax DISCAPI DISable CAPture Index Operands Type TML program On line X X Binary code 15 14 13 12 11
138. XTREF EXTREF 0 External Reference read from variable EREF updated on line EXTREF 1 External Reference read from REFERENCE input EXTREF 2 External Reference read from second encoder input RAOU RAOU Reset Automatic Origin Update RESET RESET RESET DSP controller RGM RGM Reset axis as Gear Cam Master SAOU SAOU Set Automatic Origin Update SAP SAP V32 Set Actual Position V32 SAP val32 Set Actual Position val32 SEG SEG D time D ref Segment D _ time D ref SEG V16 V32 Segment V16 V32 SGM SGM Set axis as Gear Cam Master STA STA Set Target position Actual position STOPO STOPO STOP motion in mode 0 STOPO STOPO STOPO when event occurs STOP1 STOP1 STOP motion in mode 1 STOP1 STOP1 STOP1 when event occurs STOP2 STOP2 STOP motion in mode 2 STOP2 STOP2 STOP2 when event occurs STOP3 STOP3 STOP motion in mode 3 STOP3 STOP3 STOP3 when event occurs TUMO TUMO Set Target Update Mode 0 TUM1 TUM1 Set Target Update Mode 1 UPD UPD Update motion immediate UPD UPD Update when event occurs Table 4 8 Communication amp Multiple axis group Mnemonic Description A G Instr1 Instr2 Send a series of TML instructions to A G A G V16D TM V16S A G V16D TM local V16S A G V16D TM V32S A G V16D TM local V32S A G V16D TM V16S A G V16D TM local V16S then V16D 1 A G V16D TM V32S A G V16D TM local V32S then V1
139. _var from axis 4 II p_var is incremented by 1 Remark When the remote destination is a TML data its address must be between 0x200 and 0x3FF This happens for most of the TML data including all the user defined variables which take addresses between 0x3B0 to 0x3FF There are however a limited number of TML parameters and variables having an extended address situated between 0x800 and 0x9FF For these TML data you should use either indirect addressing via a pointer variable or the following command that supports extended addressing G2 remote_var dm local_var set remote_var from group 2 with Il local_var value using extended addressing 2 6 3 Remote control The TML includes 2 powerful instructions through which you can program a drive to issue TML commands to another drive or group of drives You can include these instructions in the TML program of a drive which can act like a host and can effectively control the operation of the other drives from the network These TML instructions are axis TML command group TML command where TML command can be any single axis TML instructions whose instruction code can be represented in maximum 4 words 1 operation code 3 data words A single axis TML instruction is defined as an instruction which does not transfer data or send TML commands to other axes i e it is not one of the TML instructions presented in this paragraph Technosoft 2006 TT MotionChip Il TML Programming
140. a digital input goes high When a digital input goes low When value of a variable is equal or over a value or the value of another variable When value of a variable is equal or under a value or the value of another variable Only one event can be monitored at a time Transfer all motion parameters from buffers into the active registers which are used for reference computation when a monitored event occurs GACC 135 CSPD 20 MODE SP1 UPD ENLSP1 edge CSPD 20 LSP UPD Technosoft 2006 Acceleration command for speed profile counts sampling Speed command counts sampling Set Speed Profile Mode 1 Update immediate Positive Limit Switch triggers rising New speed command counts sampling Set event if Positive LimitSwitch is reached Update on event 286 MotionChip Il TML Programming Name WAIT Wait a motion event to occur Event group Syntax WAIT WAIT motion event Operands Type TML program On line X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 Description WAIT holds the execution of the following TML instructions from the TML program sequence until the monitored event occurs There are 18 events which can be programmed one at a time for monitoring IMC When the actual motion is completed APO When motor absolute positio
141. address 0x1235 0x2233 At dm address 0x1235 0x2233 on axis 15 on axis 15 VarLoc on local axis x VarLoc on local axis 0x2233FEDC Technosoft 2006 157 MotionChip Il TML Programming Name Assignment instruction for a 16 bits TML external variable with data sent from the local axis multiple axis instruction send data to another axis Multiple axis group Syntax Axis Group VAR16D VAR16S A G VAR16D local VAR16S Axis Group VAR16D dm VAR16S A G VAR16D dm local VAR16S Axis Group VAR16D TypeMem VAR16S A G amp VAR16D TM local VAR16S Axis Group VAR16D TyoeMem VAR16S_ A G amp VAR16D TM local VAR16S then V16D 1 Operands VAR16x integer variable Axis Group 8 bit ID for source axis or group of axes dm data memory operand TypeMem memory operand One of dm 0x1 pm 0x0 or spi 0x2 values VAR16x contents of variable VAR16x representing a 16 bit address of a variable Type TML program On line X Binary code Axis Group VAR16D VAR16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 1 1 1 0 0 9LSBs of amp VAR16D 0 0 0 0 Axis Group 0 0 0 0 amp VAR16S Axis Group VAR16D dm VAR16S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 Axis Group 0 0 0 0 amp VAR16D amp VAR16S Axis Group VAR16D TypeMem VA
142. al operation after the error cause was detected and eliminated At first AXISON after power on the reference generator starts from the initial conditions However when AXISON is set after an AXISOFF command the reference generator resumes its calculations from the same conditions left when the AXISOFF command was executed If the values for the speed reference were high when the AXISOFF command was issued at next AXISON command a still motor may suddenly face a large speed reference This may lead to a high reaction which may stress the motion system mechanical parts In order to avoid this situation it is recommended to reprogram the remaining motion without using TUM1 i e updating the target position and target speed with the actual values of the position and speed and only then set the AXISON command Example A motor controlled in speed was stopped with an AXISOFF command In order to resume the normal operation the TML program can be CACC 0 5 only if you want to change the previous acceleration value CSPD 100 only if you want to change the previous speed value MODE SP1 set again the speed profile mode 1 UPD update motion mode amp parameters Motion is prepared but will not start Il as the drive continues to be in the AXISOFF condition AXISON I motion starts The initial value for target speed is 0 because was Il updated with the actual motor speed which is 0 because the motor is still Remarks
143. ame Examples CPOS L 0x4321 write hexadecimal value 0x4321 in low part of CPOS CPOS H 0x8765 write hexadecimal value 0x8765 in high part of CPOS Il following the last 2 commands CPOS 0x87654321 Technosoft 2006 6 MotionChip II TML Programming e The TML compiler always checks the data type It returns an error if an operand has an incompatible data type or if the operands are not of the same type e A write operation using indirect addressing is performed on one or two words function of the data type If the data is a 16 bit integer the write is done at the specified address If the data is fixed or long the write is performed at the specified address and the next one A fixed data is recognized by the presence of the do for example 2 or 1 5 A long variable is automatically recognized when it s size is outside the 16 bit integer range or in case of smaller values by the presence of the suffix L for example 200L or 1L Examples user_var 0x29E write CPOS address in pointer variable user_var user_var dm 1000000 write 1000000 0xF4240 in the CPOS parameter i e Il 0x4240 at address 0x29E and OxF at next address 0x29F user_var dm 1 write 1 OxFFFF in CPOS L CPOS H remains unchanged user_var dm 1L write 1seen as a long variable OxFFFFFFFF in CPOS i e Il CPOS L OxFFFF and CPOS H OxFFFF user_var 0x2A0 write CSPD address in pointer variable user_var user_var dm 1 5
144. amed CAPPOS2 When the position sensor is an incremental encoder the captured position is very accurate as the whole process is done in less than 200 ns The master position can be captured only in the following conditions e The encoder signals from the master are connected to the 2nd encoder inputs e The drive is set as slave either in electronic gearing or electronic camming with the option to read the master position from 2nd encoder inputs You can set either an event or a TML interrupt on a capture input In both cases you need to Technosoft 2006 64 MotionChip Il TML Programming 1 Enable the capture input for the detection of a low gt high or a high gt low transition The TML instructions for enabling the capture inputs are e To enable detection of a high to low transition ENCAPIO Activate CAPI input to detect a falling transition EN2CAPIO Activate 2CAPI input to detect a falling transition e To enable detection of a low gt high transition ENCAPI1 Activate CAPI input to detect a rising transition EN2CAPI1 Activate 2CAPI input to detect a rising transition 2 Set e A capture event with cAP then wait until the event occurs with WAIT or e Enable the TML capture interrupt with SRB ICR OxFFFF 0x100 which sets ICR 8 1 Remarks e If both capture inputs are activated in the same time the capture event and the TML capture interrupt flag is set by the capture input that is triggered first e A
145. ammed event that has occurred Example CACC 1 5 Acceleration command for speed profile counts sampling CSPD 20 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate ENLSN1 Negative Limit Switch triggers rising edge CSPD 20 New speed command counts sampling LSN Set event if Negative Limit Switch is reached UPD Update on event Technosoft 2006 117 MotionChip Il TML Programming Name ILSP Set event when positive limit switch becomes active Event group Syntax ILSP if LimitSwitchPositive active Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 0 1 Description Program the detection of the event once the positive limit switch is reached and becomes active An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when the positive limit switch becomes active The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 1 5 Acceleration command for speed profile counts sampling CSPD 20 Speed command counts sampling MODE SP1 Set Speed Prof
146. and description are given for each instruction TML instructions are divided in groups as follows e Motion mode setting group Table 4 1 Event group Table 4 2 Program flow decision group Table 4 3 I O group Table 4 4 Assignment group Table 4 5 Arithmetic and logic group Table 4 6 Configuration and command group Table 4 7 Multiple axis group Table 4 8 Miscellaneous group Table 4 9 On line group Table 4 10 Table 4 1 Motion mode setting group Mnemonic Syntax Description ____________ MODE MODE CSO Set MODE Cam Slave 0 MODE CS1 Set MODE Cam Slave 1 T MODE CS2 Set MODE Cam Slave 2 S MODE CS3 Set MODE Cam Slave 3 S T MODE GSO Set MODE Gear Slave 0 MODE GS1 Set MODE Gear Slave 1 T MODE GS2 Set MODE Gear Slave 2 S MODE GS3 Set MODE Gear Slave 3 S T MODE PCO MODE Position Contouring 0 MODE PC1 MODE Position Contouring 1 T MODE PC2 MODE Position Contouring 2 S MODE PC3 MODE Position Contouring 3 S T MODE PEO MODE Position External 0 MODE PE1 MODE Position External 1 T MODE PE2 MODE Position External 2 S MODE PE3 MODE Position External 3 S T MODE PPO MODE Position Profile 0 MODE PP1 MODE Position Profile 1 T MODE PP2 MODE Position Profile 2 S MODE PP3 MODE Position Profile 3 S T Technosoft 2006 99 MotionChip Il TML Programming MODE
147. and speed control may create problems and therefore it is not recommended Related TML Parameters CSPD Command speed fixed desired jog speed in speed units Sign gives direction CACC Command acceleration fixed desired acceleration deceleration in acceleration units Technosoft 2006 25 MotionChip Il TML Programming Related TML Variables TPOS TSPD TACC APOS ASPD Target position long position reference computed by the reference generator at each slow loop position speed loop sampling period while performing a speed profile TPOS is computed by integrating the speed profile Measured in position units Target speed fixed speed reference computed by the reference generator at each slow loop sampling period while performing a speed profile Measured in speed units Target acceleration fixed acceleration deceleration reference computed by the reference generator at each slow loop sampling period while performing a speed profile Measured in acceleration units Actual position long motor position measured in position units Actual speed fixed motor speed measured in speed units Related TML Instructions MODE SPx TUM1 TUMO UPD Set speed profile mode x x 0 1 Generate new trajectory starting from the actual values of position and speed reference i e don t update the reference values with motor position and speed Generate new trajectory starting from the actual
148. ark source and destination must be of the same type i e both long or both fixed 3 Source 16 bit immediate value decimal or hexadecimal or 16 bit TML data Destination high or low part of a 32 bit TML data The 32 bit TML data can be either long or fixed long_var L 1 Il write value 1 OxFFFF into low part of long_var fixed_var H 0x2000 Il write value 0x2000 into high part of fixed_var long_var L int_var Il copy int_var into low part of long_var fixed_var H int_var Il copy int_var into high part of fixed_var 4 Source 16 bit TML data left shifted 0 to 16 Destination 32 bit TML data The 32 bit TML data can be either long or fixed long_var int_var lt lt 0 II copy int_var left shifted by 0 into long_var fixed_var H int_var lt lt 16 copy int_var left shifted by 16 fixed_var Remarks e The left shift operation is done with sign extension If you intend to copy the value of an integer TML data into a long TML data preserving the sign use this operation with left shift O e Ifyou intend to copy the value of a 16 bit unsigned data into a 32 bit long variable assign the 16 bit data in low part of the long variable and set the high part with zero Examples var OxFFFF Il As integer var 1 as unsigned integer var 65535 lvar var lt lt 0 lvar 1 OxFFFFFFFF the 16MSB of Ivar are all set to 1 the Technosoft 2006 69 MotionChip Il TML Programming Il sign bit of var lvar L var Il
149. ary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 Description After the execution of this instruction all position commands will be considered as absolute values So position references will be compared with the absolute position of the motor stored in the APOS variable Execution Subsequent position commands are considered as absolute Example CACC 1 5 CSPD 40 CPOS 50000 CPA MODE PP3 UPD Technosoft 2006 Acceleration command for position profile counts sampling Speed command for position profile counts sampling Position command counts Position command is Absolute Set Position Profile Mode 3 Update immediate 191 MotionChip Il TML Programming Name CPR Relative command position Configuration and command group Syntax CPR Command Position is Relative Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Description After the execution of this instruction all position commands will be considered as relative values Depending on the target update mode setting using instructions TUMO or TUM1 the pos
150. as also a group ID The group ID represents a way to identify a group of drives for a multicast transmission Each drive can be programmed to be member of one or several of the 8 possible groups When a TML command is sent to a group all the axes members of this group will receive the command For example if the drive is member of group 1 and group 3 he will receive all the messages that in the group ID include group 1 and group 3 This feature allows a host to send a command simultaneously to several axes for example to start or stop the axes motion in the same time The group ID is like the axis ID an 8 bit value A TML command can be sent to 8 different groups Each group is defined as having one of the 8 bits of the group ID value set to 1 see Table 3 2 The group ID of an axis can have any value between 0 and 255 If for example the group ID is 11 1011b this means that the axis will receive all messages sent to groups 1 2 and 4 You can set a drive to be member of one group using the TML instruction GROUP ID followed by an integer value between 1 and 8 You can add remove an axis to group using the TML instructions ADDGRID REMGRID followed by an integer value between 1 and 8 Remark By default all the drives are set as members of group 1 2 6 2 Data transfers between axes There are 2 categories of data transfer operations between axes 1 Read data from a remote axis A variable or a memory location from the remote axis is s
151. ast message sent and now is ready to receive the next message Remark If the destination axis for the message is not the axis connected with the host via RS 232 e g the relay axis but another axis connected with the relay axis via CAN bus the reception of the acknowledge Ok byte from the relay axis doesn t mean that the message was received by the destination axis but just by the relay axis Depending on the CAN bus baud rate and the amount of traffic on this bus the host may need to consider introducing a delay before sending the next message to an axis connected on the CAN bus This delay must provide the relay axis the time necessary to retransmit the message via CAN bus If any error occurs during the message reception for example the checksum computed by the drive axis doesn t match with the one sent by the host the drive will not send the acknowledge Ok byte If the host doesn t receive any acknowledge byte for at least 2ms after the end of the checksum byte transmission this means that at some point during the last message transmission one byte was lost and the synchronization between the host and the relay axis is gone In order to restore the synchronization the host should do the following 1 Send a SYNC byte having value 0x0D higher values are also accepted 2 Wait a programmed timeout typically 2ms period for an answer 3 If the drive sends back the same SYNC byte the synchronization is restored and the host can se
152. ate Multiple axis group Syntax CANBR value16 Set the baud rate for CAN bus Operands value16 16 bit integer immediate value Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 Value16 _ Description This command is used to setup the baud rate for CAN communication parameters channel It also sets the CBR register Baud rate Value 16 kb 125 OxF36C 250 0x736C 500 0x3273 800 0x412A 1000 0x1273 Execution CBR register value16 Program the CAN controller accordingly Example In order to configure the baud rate at 1 Mb for the CAN communication channel use the following assignment instruction CANBR 0x1273 Technosoft 2006 188 MotionChip Il TML Programming Name CHECKSUM Assignment instruction for a 16 bits TML variable with the result of the checksum operation Miscellaneous group Syntax CHECKSUM TypeMem Start Stop V16D V16D Checksum data from TM Start address to TM Stop address 1 Operands TypeMem memory operand Start Start addresses from TypeMem Stop Stop addresses from TypeMem VAR16D integer variable destination Type TML program On line X X Binary code CHECKSUM TypeMem Start Stop V16D 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 1 0 1 1 0 0 1 0 TypeMem 0 0 0 0 0 amp VAR16D Start address
153. aved into a local variable 2 Write data to a remote axis A variable or a memory location of a remote axis or group of axes is written with the value of a local variable In a read data from a remote axis operation Technosoft 2006 75 MotionChip Il TML Programming e The source is placed on a remote axis and can be A 16 bit TML data TML register parameter variable or user variable A memory location indicated through a pointer variable e The destination is placed on the local axis and can be A 16 bit TML data TML register parameter or user variable Programming Examples 1 Source remote 16 bit TML data Destination local 16 bit TML data local_var 2 remote_ var setlocal_var with value of remote_var from axis 2 Remark If remote_var is a user variable it has to be declared in the local axis too Moreover for correct operation remote_var must have the same address in both axes which means that it must be declared on each axis on the same position Typically when working with data transfers between axes it is advisable to establish a block of user variables that may be the source destination or pointer of data transfers and to declare these data on all the axes as the first user variables This way you can be sure that these variables have the same address on all the axes 2 Source remote memory location pointed by a remote pointer variable Destination 16 bit TML data The remote memory location can be of 3 type
154. ble set event when var_name is equal or under variable e When variable var_name is equal or over a 32 bit value or the value of variable IVO var_name value Il set event when var_name is equal or over value IVO var_name variable set event when var_name is equal or over variable 2 2 2 GOTO CALL The TML offers the possibility to make unconditional or conditional jumps to a specific label and also unconditional or conditional calls of TML subroutines functions The conditional instructions test the value of a variable for the following conditions lt 0 lt 0 gt 0 gt 0 0 0 The GOTO or CALL is executed only if the test condition is true In all the cases the jump location is defined via a label A label can be any user defined string of up to 32 characters which starts from the first column of a text line and ends with a colon A label contains the TML program address of the next TML instruction In the case of the CALL instructions the label name represents the TML subroutine called This is because in TML a subroutine or function is defined as follows TML_subroutine name Label with subroutine name This is the subroutine start point Il TML instructions The subroutine body RET Return from subroutine Subroutine exit point Technosoft 2006 59 MotionChip Il TML Programming Programming Examples GOTO labell varl LT jump to labell
155. by the master No other initialization is needed for electronic camming When a drive is set as master it starts sending its actual position APOS or its target position TPOS to the axis or the group of axes specified in the TML parameter sLAVEID This contains either the axis ID of one slave or the value of a group ID 256 i e the group of slaves to which the master should send its position Slave mode Technosoft 2006 40 MotionChip Il TML Programming When a drive should work as slave for electronic camming the following settings must be checked or performed before enabling the electronic camming slave mode 1 Load a previously defined cam table into SRAM program memory The cam table contains equally spaced values for X at 1 2 4 8 16 32 64 or 128 Between the points of the table linear interpolation is performed It is not mandatory to define the cam table for 360 degrees of the master You may also define shorter cam tables which for example may be active between angles 120 and 200 degrees of the master In this case the slave position remains unchanged outside the active area of the cam You can continuously run the master in any direction with the slaves performing a glitch free transition when the cam table is restarted A cam table has the following format e 1st word 1 word 16 bit data Bits 15 13 the power of 2 of the interpolation step For example if these bits have the binary value 010 2 the interpo
156. case of a speed reference CACC 0 005 CSPD 20 MODE SP1 UPD CACC 0 5 LRU 10 UPD c In case of a torque reference MODE A REFTST 3968 RINCTST 10 UPD CACC 0 005 CSPD 20 MODE SP1 IRU 2500 UPD d In case of a voltage reference MODE VT REFTST 19353 Technosoft 2006 Acceleration command for position profile counts sampling Speed command for position profile counts sampling Position command counts Position command is Relative Set Position Profile Mode 3 Update immediate New speed command for position profile counts sampling Set event if Reference lt 20000 counts position reference Update on event Acceleration command for speed profile counts sampling Speed command counts sampling Set Speed Profile Mode 1 Update immediate New acceleration command for speed profile counts sampling Set event if Reference lt 10 counts sampling speed referenc Update on event Set Torque Test Mode Reference saturation value in test mode Reference increment value in test mode Update immediate Acceleration command for speed profile counts sampling Speed command counts sampling Set Speed Profile Mode 1 Set event if Reference lt 2500 bits torque reference Update on event Set Voltage Test Mode Reference sat
157. ceived from the master are differentiated and used to obtain the position reference for the slave axis based on the active CAM Table See Motion Programming chapter for details about camming reference parameters and implementation Depending on the selected option CSO CS1 CS2 or CS3 some of the internal control loops speed and current are activated or not depending on the system structure see below table Note that for all the control loops needed to implement the selected mode position speed current one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD Execution Sets the slave camming mode operation for the axis reference type Four cases are possible MODE Position Speed Current controller controller controller cso V CS1 V V CS2 V CS3 V V Example EXTREF 0 EIR 0x081A EIR dm 2000 EIR 0x081B EIR dm 0 MODE CS3 Set as slave position mode 3 TUM1 Set Target Update Mode 1 UPD Update immediate EFLEVEL 0 Activate synchronization Technosoft 2006 224 MotionChip Il TML Programming Name MODE GS Set gear slave mode
158. command must be issued The update command UPD Transfers all motion parameters from buffers into the active registers which are used for reference computation when one of the possible events occurs in the motion system There are 18 events which can be programmed one at a time for monitoring IMC When the actual motion is completed APO When motor absolute position is equal or over a value or the value of a variable APU When motor absolute position is equal or under a value or the value of a variable IRPO When motor relative position is equal or over a value or the value of a variable IRPU When motor relative position is equal or under a value or the value of a variable ISO When motor speed is equal or over a value or the value of a variable ISU When motor speed is equal or under a value or the value of a variable IAT After a wait absolute time equal with a value or the value of a variable IRT After a wait relative time equal with a value or the value of a variable IRO When position speed torque voltage reference is equal or over a value or the value of a variable Technosoft 2006 285 MotionChip Il TML Programming Execution Example IRU ICAP ILSP ILSN IN n 1 IN n 0 IVO IVU When position speed torque voltage reference is equal or under a value or the value of a variable When the selected capture input is triggered When the positive limit switch is triggered When the negative limit switch is triggered When
159. corresponds to a group Up to 8 groups 1 to 8 can be defined added removed in a multiple axis structure An axis can belong to any of the groups A multiple axis message can be addressed to one axis or to a group of axes Execution Group_ID Group_ID value16 or value of VAR16 Example GROUPID 1 local axis belongs to group 1 ADDGRID 2 from now on the local axis belongs to groups 1 and 2 GROUPID 3 ADDGRID 4 from now on the local axis belongs to groups 1 2 and 4 GROUPID 11 G4 STOP3 send stop motion command to all axes belonging to group 4 Technosoft 2006 180 MotionChip Il TML Programming Name AXISID Set axis ID value Multiple axis group Syntax AXISID value16 Set AXIS ID address AXISID VAR16 Set AXIS ID with value of VAR16 Operands value16 16 bit integer immediate value VART6 integer variable Type TML program On line X X Binary code AXISID value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 Value16 AXISID VAR16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 amp VAR16 Description In multiple axis structures these commands allows changing the ID of the axis After the execution of these commands the new ID value is recognized by the axis The ID value16 or the ID value
160. ction can be used also from a TML interrupt or when detecting an error in the motion system operation protections control error etc Execution Resets the DSP processor Example CACC 0 5 Acceleration command for position profile counts sampling CSPD 20 Speed command for position profile counts sampling CPOS 70000 Position command counts CPA Position command is Absolute MODE PP3 Set Position Profile Mode 3 UPD Update immediate IMC Set event when MotionComplete WAIT WAIT until event occurs RESET After motion complete reset the system Technosoft 2006 257 MotionChip Il TML Programming Name RET Return from a TML function Decision group Syntax RET Unconditional RETurn from a TML function Operands Type TML program On line X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 Description This instruction allows the return from a TML function subroutine Specific sequences can be called from different points of the TML program The RET instruction may be used to end the execution of a function and to continue the TML sequence following the CALL instruction Execution Returns from a TML function TOS gt IP Example int my_pos my_pos 2000 CALL MOVEP Execute a first motion of 2000 counts my_pos 4000 CALL MOVEP
161. d 0x3FF This happens for most of the TML data including all the user defined variables which take addresses between 0x3B0 to Ox3FF There are however a limited number of TML parameters and variables having an extended address situated between 0x800 and Ox9FF For these TML data you should use the SRBL instruction for setting and resetting bits SRBL TMLvar OxFFFE 0x2 set bit 0 0 and bit 1 1 in TMLvar with extended address Technosoft 2006 74 MotionChip Il TML Programming 2 6 Multi axis control This group of instructions includes e Data transfer operations between drives connected in a network e Remote control commands through which a drive which acts like a host effectively controls one or more drives operation 2 6 1 Axis ID Group ID In multiple axis configurations each axis drive needs to be identified through a unique number the axis ID This is a number between 1 and 255 The axis ID is initially set at power on by reading the MotionChip Il analogue input lines ADCIN10 to ADCIN14 as follows e Axis ID 255 if all the analogue inputs ADCIN10 to ADCIN14 are high e Axis ID 1 to 31 if at least one of the ADCIN10 to ADCIN14 inputs is low The axis ID value depends on the analogue inputs combination see Table 3 1 Later on you can change the axis ID to any of the 255 possible values using the TML instruction AXISID followed by an integer value between 1 and 255 Apart from the Axis ID each drive h
162. d event is when a 32 bit relative time counter is equal with a 32 bit long value or the value of a long variable The comparison value is expressed in time units i e in slow loop sampling periods When the wait time event is set the 32 bit relative time counter is reset and restarts counting from zero Remark After setting a wait time event in order to effectively execute the time delay you need to wait for the event to occur using for example the wait on event command WAIT Technosoft 2006 55 MotionChip Il TML Programming It is also possible to set an event when a 32 bit absolute time counter is equal with a 32 bit long value or the value of a long variable Like in the relative case the comparison value is expressed in time units Remark e Both the relative and the absolute time counters are started ONLY after the execution of the ENDINIT end of initialization command Therefore you should not set wait events or absolute time events before executing this command e In the case of an absolute time event be aware that the 32 bit absolute time counter rolls over when it reaches the maximum value of 2 1 2 2 1 5 Function of reference The monitored event is when TML variable TREF is equal or over under with a 32 bit value or the value of a 32 bit variable The TML variable TREF represents The position reference when position control is performed The speed reference when speed control is performed The current tor
163. d to declare the user variables before using them The TML uses the following data types e int 16 bit signed integer e uint 16 bit unsigned integer e fixed 32 bit fixed point data with the 16MSB for the integer part and the 16LSB for the factionary part e long 32 bit signed integer e ulong 32 bit unsigned integer The data type uint or ulong are reserved for the TML predefined data The user defined variables are always signed Hence you may declare them of type int fixed or long Remark An unsigned TML data means that in the MotionChip Il firmware its value is interpreted as unsigned Typical examples register values time related variables protection limits for signals that may have only positive values like temperature or supply voltage etc However the same Technosoft 2006 5 MotionChip Il TML Programming data will interpreted as signed if it is used in a TML instruction whose operands are treated as signed values Each TML data has an associated address This represents the address of the data memory location where the TML data exists In TML the data components may be addressed in 2 ways e direct using their name in the TML instruction mnemonic Example CPOS 2000 write 2000 in CPOS parameter command position e indirect using a pointer variable The pointer value is the address of the data component to work with Example user_var 0x29E write hexadecimal value 0x29E representing CPOS address in
164. der lines per revolution Ts_S is the slave slow loop sampling period s Technosoft 2006 83 MotionChip Il TML Programming 3 Communication Channels and Protocols 3 1 Communication channels The Motion Chip Il accepts two types of communication channels e Serial RS 232 or RS 485 e CAN bus The serial RS 232 communication channel can be used to connect a host with a single MotionChip Il based drive see Figure 3 1 The serial RS 485 and the CAN bus communication channels can be used to create a distributed control network with a host and up to 255 MotionChip Il based drives see Figure 3 2 and Figure 3 3 When CAN bus communication is used any MotionChip Il based drive from the network may also be connected through RS 232 with a host see Figure 3 4 In this structure the axis connected to the host apart from executing the commands received from host or other axes acts also as a retransmission relay which e Receives through RS 232 commands from host for another axis and retransmits them to the destination through CAN bus e Receives through CAN bus data requested by host from another axis and retransmits them to the host through RS 232 This flexibility enables a host to program and monitor a CAN bus network using only one RS 232 connection without the need to have a CAN bus interface In this case the CAN bus protocol is completely transparent for the host RS 232 transceiver MCII Drive MCII Drive MCII Drive MCII
165. e In this mode the reference module will get the reference values from the specific pulse and direction interface of the DSP The reference will represent a speed reference value in speed control structures The reference will be generated in the slow control loop position speed loop See Motion Programming chapter for details about pulse and direction reference parameters and implementation Depending on the selected option SPDO SPD1 the internal current control loop is activated or not depending on the system structure Note that if the current control loop is needed to implement the selected mode MODE SPD1 one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPDI Technosoft 2006 241 MotionChip Il TML Programming Execution Sets the speed pulse amp direction motion mode reference type Two cases are possible MODE Current controller SPDO SPD1 NI Example MODE SPD1 Set Speed mode 1 with Pulse amp Direction reference UPD Update immediate Technosoft 2006 242 MotionChip Il TML Programming Name MODE TC Torque contouring motion mode Motion mode group Syntax MODE TC MODE Torque Contouring Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8
166. e 244 MotionChip Il TML Programming Name MODE TEF TES Torque external motion mode Motion mode group Syntax MODE TEF MODE Torque External Fast MODE TES MODE Torque External Slow Operands Type TML program On line X X Binary code MODE TEF 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 MODE TES 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 Description MODE TEF TES instruction defines the torque control operating in the external reference motion mode If MODE TEF is set the reference module will always use only the analogue reference input In MODE TES there are also possible the other external modes as previously defined by the EXTREF instruction The reference will represent a torque reference value in torque control structures See Motion Programming chapter for details about external reference parameters and implementation Depending on the selected option TEF or TES the reference is generated in the fast control loop or in the slow control loop This is based to the fact that normally an external torque reference needs to be updated in the fast control loop where the current controllers are activated Note that
167. e amp direction motion mode reference type Four cases are possible MODE Position controller Speed controller Current controller PPDO N PPD1 y V PPD2 PPD3 y NI NI Example MODE PPD3 Set Position mode 3 with Pulse amp Direction reference UPD Update immediate Technosoft 2006 234 MotionChip Il TML Programming Name MODE SC Speed contouring motion mode Motion mode group Syntax MODE SCO MODE Speed Contouring 0 MODE SC1 MODE Speed Contouring 1 T Operands Type TML program On line X X Binary code MODE SCO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 MODE SC1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 0 1 1 1 1 0 0 0 0 1 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 Description MODE SCO SCI1 instruction defines the speed control operating in the contouring reference motion mode In this mode the reference module will perform linear interpolation based on motion speed segments described using the SEG instruction The reference will represent a speed reference value in speed control structures The reference is generated in the slow control loop position speed loop See Motion Programming chapter for details about contouring r
168. e During AXISON condition the Motion Status Register bit 13 is set MSR 13 1 e In IPM Motion Studio the AXISON command is automatically included in the motion programs after the drive setup parameters and before the motion sequences you program using the Motion Wizard Therefore it is not necessary to include it at the beginning of a motion programming sequence The AXISOFF command deactivates the control loops the reference generator and the PWM output commands all the switching devices are off However all the measurements remain active and therefore the motor currents speed position as well as the supply voltage continue to be updated and monitored If the AXISOFF command is applied during motion it leaves the motor free running Typically the AXISOFF command is used when an error condition is detected for example when a protection is triggered Remark The AXISOFF command is automatically generated when the Enable input goes from enabled to disabled status If the Enable input returns to the enabled status no other command like AXISON is automatically generated However if needed you can generate automatically the Technosoft 2006 47 MotionChip Il TML Programming AXISON command when Enable input returns to the enable status by setting the AXISON command in the TML interrupt service routine called each time when the Enable input status changes The TML offers you 4 ways to stop a motor Table 2 10 presents these stop mode
169. e Index 1 gt 0 Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 Description After the execution of this instruction the DSP will detect the first transition from 1 to 0 on the index2 capture input pin 2CAPI for drives where the second encoder input is available Index2 Capture captures the master position The master position can be captured only in the following conditions e The encoder signals from the master are connected to the second encoder input of the drive e The drive is set as slave either in electronic gearing or electronic camming with option Read master position from second encoder input activated When the programmed transition occurs the following happens e The value of the master position will be stored in the CAPPOS2 system variable e An event is detected and the update event and the wait event bits of the MSR register are set if a capture triggered ICAP instruction was executed prior the occurrence of the capture e If an update on event was programmed a motion update is performed e The corresponding status bit in the MSR register Bit 8 position capture is set e The corresponding interrupt bit in the ISR register Bit 8 position capture is set and will determine the execution of the associated interrupt service routine if the corresponding mask bit from the ICR register is set e The DSP index capture pin is programmed as a general input data
170. e appropriate motion mode Remarks e Asin most applications the current torque control is needed the IPM Motion Studio does not cover the setup options where current loop is not closed Therefore using IPM Motion Studio you can chose only between 2 options position loop with speed loop and current loop MODE PP3 and position loop without speed loop and with current loop MODE PP1 e Closing all the loops offers a good control of the motor speed while closing only position and current loop may provide better performances for high dynamic applications requiring quick positioning moves When position loop is closed without the speed loop MODE PP1 you can increase the position loop bandwidth 2 3 times more compared with the case when all the 3 loops are closed MODE PP3 Related TML Parameters CPOS Command position long desired position absolute or relative in position units CSPD Command speed fixed desired slew speed in speed units CACC Command acceleration fixed desired acceleration deceleration in acceleration units Related TML Variables TPOS Target position long position reference computed by the reference generator at each slow loop position speed loop sampling period when a position profile mode is performed Measured in position units TSPD Target speed fixed speed reference computed by the reference generator at each slow loop sampling period when a position profile mode is
171. e following TML code user_var 0x81A set user variable user var with 0x81A the address of the master Il resolution parameter user_var dm resolution value write resolution value in data memory dm at address pointed by user_var i e in the master resolution Remark The master resolution is a 32 bit long integer value If master position is not cyclic i e the resolution is equal with the whole 32 bit range of position set master resolution to 0x80000001 When this value is used no modulo operation is performed on the position counted from the 2 encoder inputs 4 Enable synchronization with the master if the master position is provided via communication When the synchronization is enabled the slave performs a slight adjustment of the moments when the speed position loop control is performed to synchronize them with the moments when the master sends its position This allows the slaves to always have a new master position before starting to use it In order to Enable the synchronization with the master set TML variable EFLEVEL 0 Disable the synchronization with the master set TML variable EFLEVEL OxFFFF Remark The synchronization must be enabled only after the master starts sending its position and must be disabled before or immediately after the master stops sending its position Do not leave a slave with the synchronization enabled while the master is disabled During this period the m
172. e no effect until an update command is executed If you intend to perform an update when a specific condition occurs you can set an event which monitors the condition followed by an update on event command uPD When the monitored condition occurs the update will be automatically performed Once you have set an update on event UPD you can either wait for the monitored event to occur or perform other operations The TML command SAP offers you the possibility to set change the referential for position measurement by changing simultaneously the motor position APOS and the target position TPOS values while keeping the same position error You can specify the new position either as an immediate value or via a 32 bit long variable SAP command can be executed at any moment during motion When SAP command is executed the following operations are performed e Under TUMI i e if TUM1 command has been executed after the last motion mode setting and before the last UPD the target reference position TPOS is set equal with the new position value and the actual motor position APOS is set equal with the new position reference minus the position error POSERR TPOS new_value APOS TPOS POSERR e Under TUMO i e if TUM1 command has not been executed after the last motion mode setting and before the last uPD the actual motor position APOS is set equal with the new position value and the target reference position TPOS is set equal with the
173. e packaging The RS 232 RS 485 serial communication is done using 8 data bits 2 stop bits no parity at the following baud rates 9600 default after reset 19200 38400 56600 and 115200 The messages exchanged through serial communication are packed in the following format Byte 1 Message length Byte 2 Axis Group ID high byte Byte 3 Axis Group ID low byte Byte 4 Operation code high byte Byte 5 Operation code low byte Byte 6 Data 1 high byte Byte 7 Data 1 low byte Byte 8 Data 2 high byte Byte13 Data 4 low byte Last byte Checksum Figure 3 6 Serial communication message format The message length byte contains the total number of bytes of the message minus 2 Put in other words the length byte value is the number of bytes of the axis group ID 2bytes the operation code 2 bytes and the data words variable from 0 to 8 bytes The checksum byte is the sum modulo 256 of all the bytes of the message except the checksum byte itself Message types on serial communication The serial communication protocol is based on two types of messages e Type A Messages that don t require an answer a return message In this category enter for example the messages containing commands for parameter settings commands that start or stop motion execution etc e Type B Messages that require an answer In this category enter the messages containing commands that a
174. e target reference is var32 equal or over a 32 bit value or the value of a long fixed variable When the selected capture input is triggered value32 var32 Technosoft 2006 53 MotionChip Il TML Programming 1 LSP When positive limit switch input LSP is triggered LSN When negative limit switch input LSN is triggered lIN n 0 When digital input n goes low IN n 1 When digital input n goes high IVU var32a value32 When value of the long fixed variable var32a is equal or under a IVU var32a var32b 32 bit long fixed value or the value of long fixed variable var32b IVO var32a value32 When value of the long fixed variable var32a is equal or over a IVO var32a var32b 32 bit long fixed value or the value of long fixed variable var32b You can combine the events with the motion programming in order to define the moment when a new motion mode and or motion parameters must be updated i e enabled as the moment when a programmed event will occur This involves the following operations Definition of an event Programming of a new motion mode and or new motion parameters Setting of an update on event UPD command or one of the stop modes on event STOP0 STOP1 STOP2 Or STOP3 Wait for the event to occur WAIT Remarks After you have programmed a new motion mode and or new motion parameters with an update on event or a stop on event it is recomme
175. e the cam i e X_1 gt Xmax DY Ymin Y_1 Y Ymax if in the cam with master rollover where Y f X is the actual cam table output Y_1 f X_1 is the previous cam table output Ymax f Xmax is the last cam table output point Ymin f Xmin is the first cam table output point In the cam with master rollover condition is when both X and X_1 inputs are inside the cam table but X gt X_1 because the master position has rolled over If needed the slave position may be modified before enabling the slave operation using the SAP 0 TML command see par 2 1 8 for details 2 1 8 Motor Commands Stop Modes You can apply one of following commands to the motor Activate deactivate the control loops and the power stage PWM output commands AXISON AXISOFF Stop the motor in one of the four possible modes STOP3 STOP2 STOP1 STOPO Technosoft 2006 46 MotionChip Il TML Programming e Issue an update command immediate UPD or when a previously programmed event occurs UPD e Change the values of the motor position and the position reference The AXISON command activates the control loops and the PWM output commands After power on the AXISON command has to be executed at least once after the ENDINIT end of initialization command During operation AXISON command may be used to restore the normal drive operation following an AXISOFF command Typically the AXISON command can be used in the error treatment routines to restore the norm
176. e the working area the initialization procedure requires to move the motor until one or both limit switches are reached You can set for each limit switch input either an event or a TML interrupt to detect when it has been reached In order to set an event or a TML interrupt on a limit switch input you need to Technosoft 2006 65 MotionChip Il TML Programming 1 Enable the limit switch input capability to detect a low gt high or a high gt low transition The TML instructions for enabling transition detection on the limit switch inputs are e To enable detection of a high to low transition ENLSPO Activate LSP input capability to detect a falling transition ENLSNO Activate LSN input capability yo detect a falling transition e To enable detection of a low gt high transition ENLSP1 Activate LSP input capability to detect a rising transition ENLSN1 Activate LSN input capability to detect a rising transition 2 Set e A limit switch event with the TML instructions LSP or LSN then wait until the event occurs with WAIT or e Enable LSP or LSN TML interrupt with SRB ICR OxFFFF 0x40 which sets ICR 6 1 or with SRB ICR OxFFFF 0x80 which sets ICR 7 1 Remarks e Both limit switch inputs can be set in the same time to detect transitions as each input has its own event and TML interrupt e A limit switch input capability to detect transitions is automatically disabled after the programmed transition was detected
177. e type B message has two components e A request message sent through the TML command Give Me Data e An answer message sent through the TML command Take Data The Give Me Data request message includes the following information CAN Identifier Operation Code and Axis ID destination axis Data word 1 Sender Axis ID Data word 2 Request Data Address The Operation Code for the Give Me Data request is B004h for 16 bit data and BOO5h for 32 bit data The Take Data answer message includes the following information CAN Identifier Operation Code and Axis ID destination axis Data word 1 Sender Axis ID Data word 2 Request Data Address Data word 3 Data Requested 16 LSB Data word 4 Data Requested 16 MSB for 32 bit data The Operation Code for the Take Data request is B404h for 16 bit data and B405h for 32 bit data Example 1 A host is directly connected on a CAN bus network with Technosoft drives and wants to send to the drive with the axis ID 5 the TML instruction kpp 0x1234 set proportional part of the position controller with value 1234 hexa The code of the TML instruction is Operation Code 205Eh Data word 1 1234h The CAN Message Identifier have the following content 28 0 eee Group Axis Group ololo Host Operation code 205Eh bit ID bit 9LSB of 205Eh 0010000 0 000001011000 0 001011110 0400A05Eh
178. eMem memory operand VAR16x contents of variable VAR16x representing a 16 bit address of a variable TML program On line X Axis Group VAR32D VAR32S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 1 1 1 1 0 OLSBs of amp VAR32D 0 0 0 0 Axis Group o o o o amp VAR32S Axis Group VAR32D dm VAR32S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 Axis Group 0 0 0 0 amp VAR32D amp VAR32S Axis Group VAR16D TypeMem VAR32S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 1 0 1 1 TypeMem 0 1 0 0 0 Axis Group 0 0 0 amp VAR16D amp VAR32S Technosoft 2006 161 MotionChip Il TML Programming Axis Group VAR16D TypeMem VAR32S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 0 1 1 TypeMem 0 1 0 0 0 0 Axis Group 0 0 0 0 amp VAR16D amp VAR32S Description Send the 32 bit local value of the source operand to an external axis and assign it to the 32 bit destination external variable TypeMem DM 01 PM 00 SPI 10 Execution external 32 bit destination var
179. each slow loop sampling period when electronic gearing slave modes are performed Measured in acceleration units APOS Actual position long motor position measured in position units ASPD Actual speed fixed motor speed measured in speed units Related TML Instructions SGM Set electronic gearing master mode RGM Reset electronic gearing master mode EXTREF 0 Receive master position via a communication channel EXTREF 2 Read master position from second encoder input MODE GSx Set electronic gear slave mode x x 3 2 1 0 TUM1 Generate new trajectory starting from the actual values of position and speed reference i e don t update the reference values with motor position and speed TUMO Generate new trajectory starting from the actual values of motor position and speed i e update the reference values with motor position and speed UPD Update motion mode and parameters Start motion STOPO STOP1 STOP2 or STOP3 Stop motion using methods 0 to 3 Programming Example On slave axis Axis ID 1 GEAR 0 66667 set gear ratio value GEARMASTER 3 set gear ration denominator GEARSLAVE 2 set gear ratio numarator EXTREF 0 receive master position via a communication channel EIR 0x081A set EIR variable with address of MASTERRES EIR dm 2000L set MASTERRES 2000 MODE GS3 set gear slave mode 3 TUM1 keep the position and spe
180. ed reference optional UPD update activate gear slave mode Slave starts following the master position On master axis SLAVEID 1 slave axis has Axis ID 1 SGM set electronic gearing master mode SRB OSR OxFFFF 0x8000 send target position 1 MPOSO TPOS set master target position on slave axis UPD update activate new mode Master starts sending its position Technosoft 2006 39 MotionChip II TML Programming Remark When a drive is set in an electronic gearing slave mode it starts to add the position increment computed from the master position increment and the gear ratio to its current position Hence electronic gearing mode is a relative move which on each slave starts from its current position If needed the slave position may be modified before enabling the slave operation using the SAP 0 TML command see par 2 1 10 for details 2 1 7 Electronic Camming Modes In the electronic camming mode one drive is set as master and other drives are set as slaves The slaves execute a cam profile function of the master position A cam table describes the cam profile The cam table consists of 2 columns of points X for the master and Y for the slave The slaves can get the master position in two ways e The master sends its position via a communication channel This option requires having the drives connected on a CAN bus or RS 485 network The master sends either the motor position if O
181. een these four motion modes at any moment The torque contouring and the voltage contouring have been foreseen only for setup tests The torque contouring may be used for example to check the response of the current controllers to other input signals than the step signal used in the Current Controller Tuning Test The voltage contouring may be used for example to check the motors behavior under a constant voltage or any other voltage shape A contouring segment has 2 parameters the time and the reference increment The time parameter represents the segment duration expressed in time units i e in number of slow position speed loop sampling periods The reference increment represents the amount of reference variation per time unit i e per sampling period 24 20 16 12 0 2 4 6 8 10 12 14 Figure 2 5 Reference generation in contouring modes Example A position contouring segment starts at position 0 and reaches position 2000 encoder counts in 1 second Considering a slow loop sampling period 1ms the contouring segment data are Time 1000 1000 x 1ms 1s Reference increment per sampling 2 1000 x 2 2000 In position or speed contouring the starting point is either the current value of the target position speed if TUM1 command is set between the motion mode setting and the UPD command or the actual value of the motor position speed if TUM1 is omitted In torque voltage contouring the starting value is set by the use
182. eference parameters and implementation Depending on the selected option SCO SC1 the internal current control loop is activated deactivated depending on the system structure Note that if the current control loop is needed to implement the selected mode MODE SC1 one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPDI Technosoft 2006 235 MotionChip Il TML Programming Execution Sets the speed contouring motion mode reference type Two cases are possible MODE Current controller sco sci Example MODE SC1 TUM1 Technosoft 2006 ANNAN G SEG 100U PD EG 100U EG 200U EG 100U EG 200U EG 0 0 5 00000 Set Speed Contouring Mode 1 Set Target Update Mode 1 Set 1 motion segment Increment speed reference with 5 counts sampling for the next 100 sampling periods 5 00000 10 00000 10 00000 10 00000 Update Set 2 Set 38 Set 4 Set 5 immediate motion segment motion segment motion segment motion segment End of contouring mode 236 MotionChip Il TML Programming Name MODE SE Speed external motion mode Motion mode group Syntax MODE SEO MODE Speed External 0
183. eous group Syntax BEGIN Beginning of a TML program Operands Type TML program On line X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 0 0 1 1 0 0 1 0 0 1 0 0 1 1 1 0 Description This command is used at the beginning of an independent sequence of TML instructions The TML instruction decoding section will recognize the BEGIN instruction as the first valid instruction of a TML program Execution Begin a sequence of TML instructions Example BEGIN include dc_epc ini includes the setup file ENDINIT end of setup file Loop AXISON start program MODE SP1 work mode CSPD 20 setup reference speed UPD update END end of program Technosoft 2006 184 MotionChip Il TML Programming Name CALL Call a TML function Decision group Syntax CALL Label Unconditional CALL of a TML function CALL Label VAR16 Flag CALL if VAR16 Flag 0 CALL Label VAR32 Flag CALL if VAR32 Flag 0 Operands Label 16 bit program memory address VAR76 integer variable VAR32 long variable Flag one of I gt gt lt lt relational factors Type TML program On line X X Binary code CALL Label 15 14 13 12 11 10 9 8 7 6 5 4 1 0 1 1 1 0 1 0 0 0 0 0 0 0 amp Label CALL Label VAR16 Flag 15 14 13 12 11 10 9 8 7 6 5 4 1 0 1 1 1 0 1 0 0 Flag
184. ers which are used for reference computation The same principle applies also to tte MODE commands which set the motion modes The update command can be issued at any time If it is issued during motion it determines a motion mode and or motion parameter change on the fly If it is issued after the motion was completed it acts like a start motion command Execution Transfer all motion parameters from buffers into the active registers which are used for reference computation Example CACC 0 5 Acceleration command for speed profile counts sampling CSPD 40 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate CSPD 40 Speed command counts sampling UPD Update immediate Technosoft 2006 284 MotionChip Il TML Programming Name UPD Update the motion on event Configuration and command group Syntax UPD UPDate motion on event Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 Description All motion parameters are buffered Consequently when a motion parameter is changed the new value is placed into a buffer This operation doesn t affect the reference generator which continues to generate the target reference using the previous motion parameters In order to activate the new motion parameters an update
185. es 0x1234 pVarExt on all axes 0x1234 belonging to group 8 belonging to group 8 At dm address 0x1234 x At dm address 0x1234 OxFEDC on all axes belonging on all axes belonging to group 8 to group 8 Technosoft 2006 159 MotionChip Il TML Programming Example4 int VarLoc pVarExt G8 pVarExt dm Before instruction VarLoc on local axis pVarExt on all axes belonging to group 8 At dm address 0x1234 on all axes belonging to group 8 Technosoft 2006 VarLoc OxFEDC 0x1234 X 160 After instruction VarLoc on local axis pVarExt on all axes belonging to group 8 At dm address 0x1234 on all axes belonging to group 8 OxFEDC 0x1235 OxFEDC MotionChip Il TML Programming Name Assignment instruction for a 32 bits TML external variable with data sent from the local axis multiple axis instruction send data to another axis Communication amp Multiple axis group Syntax Operands Type Binary code Axis Group VAR32D VAR32S A G long VAR32D local VAR32S Axis Group VAR32D DM VAR32S A G long VAR32D DM local VAR32S Axis Group VAR16D TypeMem A G amp VAR16D TM local VAR32S VAR32S Axis Group VAR16D TypeMem A G amp VAR16D TM local VAR32S VAR32S then V1DS 2 VAR32x long variable VAR32x Axis 8 bit ID for source axis or group of axes dm data memory operand Typ
186. es Ts_C is the current loop sampling period s Temperature units The correspondence with the international standard SI units is Temperature C DN Temperature iu TempOffsetfi u TempSensorGain V C x 65472 where TemperatureSensorGain expresses the sensor output voltage variation when the temperature modifies with one degree Celsius Technosoft 2006 82 MotionChip Il TML Programming TempOffset is the temperature sensor voltage output at 0 C expressed in internal units V TempOutput At0oC V as TempOffset iu Master Position units When the master position is sent via a communication channel the master position units depend on the type of position sensor present on the master axis When the master position is an encoder the correspondence with the international standard SI units is 2X1 Master _ position rad ARNG encoder lines Master _ position i u where No_encoder_lines is the master number of encoder lines per revolution Master Speed units The master speed is computed in internal units IU as master position units slow loop sampling period i e the master position variation over one position speed loop sampling period When the master position is an encoder the correspondence with the international standard SI units is 2XTT 4xNo_encoder_linesxTs_S Master _ speed rad s Master _ speed iu where No_encoder_lines is the master number of enco
187. etermine the execution of the associated interrupt service routine if the corresponding mask bit from the ICR register is set e the DSP index capture pin is programmed as a general input data pin bit port 5 in TML Execution Enable index capture on falling edge front transition from 1 to 0 Example CACC 0 5 Acceleration command for speed profile counts sampling CSPD 20 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate ENCAPIO Activate CAPI input to trigger a falling transitions CSPD 50 New acceleration command for speed profile counts sampling CAP Set event if CAPture is triggered Technosoft 2006 205 MotionChip Il TML Programming UPD Update on event Name ENCAPI1 Enable index capture on rising edge front I O group Syntax ENCAPI1 Enable CAPture Index 0 gt 1 Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 Description After the execution of this instruction the DSP will detect the first transition from 0 to 1 on the index capture input CAPI pin Index capture captures the motor actual position On capture the following happens e The value of the motor position will be stored in the CAPPOS system variable e An event is detected and the update event and the wait event bits of the MSR
188. g Varl Var2 vari Var2 Before instruction After instruction Var2 OxAABC1234 Var2 OxAABC1234 Var1 x Var1 OxAABC1234 Example3 int Varl long Var2 Technosoft 2006 148 MotionChip Il TML Programming Var2 Varl lt lt 4 Before instruction Var1 0x9876 Var2 x Example4 long Varl veri dm 0x1122AABB Before instruction Var1 x Example5 long Varl Var2 Varl dm Var2 Before instruction Var2 OxAABC1234 Var1 x Example6 long Varl int pVar2 vari pVar2 dm Before instruction pVar2 0x96AB Data memory 0x96AB 0x1234 Ox96AC OxABCD Var1 x Example7 long Varl int pVar2 Varl pVar2 dm Before instruction pVar2 Ox0A02 Data memory 0x0A02 0x1234 0x0A03 OxABCD Var1 x Technosoft 2006 149 After instruction Var1 0x9876 Var2 0x00098760 After instruction Var 0x1122AABB After instruction Var2 OxAABC1234 Var OxAABC1234 After instruction pVar2 0x96AB Data memory 0x96AB 0x1234 Ox96AC OxABCD Var1 0xABCD1234 After instruction pVar2 Ox0A04 Data memory Ox0A02 0x1234 0x0A03 OxABCD Var1 0xABCD1234 MotionChip Il TML Programming Example8 int pVarl pVarl spi 0x5422AFCD Before instruction pVar1 0x5100 SPI memory 0x5100 x 0x510
189. ge reference The position and speed external modes have been foreseen for normal operation With the torque external mode you can set your drive as a torque amplifier The voltage external mode is foreseen for test purposes Technosoft 2006 30 MotionChip II TML Programming The torque and voltage external modes with analogue reference have two options e torque voltage slow reference is read at each slow loop position speed sampling period e torque voltage fast reference is read at each fast loop torque current sampling period In the torque and voltage external modes with reference set via communication in the TML variable EREF only slow option position speed sampling period is available i e reference is read at each slow loop By default after power on the external mode with reference set via communication in EREF is enabled In order to activate the external mode with reference read from a dedicated analogue input you need to execute the TML command EXTREF 1 Before enabling an external mode with analogue reference during the setup phase you need to establish how to interpret a value read from the analogue input Put in other words you need to set the associated TML parameters in order to get the desired range for a position speed current or voltage command Table 2 6 presents the possible external modes Table 2 6 External Modes Category Position External
190. ge test motion mode Motion mode group Syntax MODE VT MODE Vorque Test Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 Description MODE VT instruction defines the voltage test operating motion mode In this mode the reference module will use the values of specific variables allowing the generation of a saturated ramp or a constant value for the amplitude of the voltage and for the electric angle of the motor Thus one can apply a constant or a rotating voltage vector to the motor for test purposes The reference will be generated in the slow control loop position speed loop See Motion Programming chapter for details about test reference parameters and implementation Note that no control loop is needed to implement the selected mode The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD Execution Sets the voltage test motion mode reference type Example MODE VT Set Voltage Test Mode REFTST 15 Reference saturation value in test mode bits RINCTST 4 Reference increment value in test mode bits sampling UPD Update immediate Technosoft 2006 252 MotionChip Il TML Programming Name NOP No o
191. gram label amp V16 Address of a 16 bit integer variable amp V32 Address of a 32 bit long or fixed variable V16 Memory location at address equal with V16 value la Long addressing Source destination operand provided with 16 bit address Some TML instructions using 9 bit short addressing are doubled with their long addressing equivalent 9LSB amp V16 The 9 LSB less significant bits of the address of a 16 bit integer 9LSB amp V32 The 9 LSB less significant bits of the address of a 32 bit long or fixed A Axis ID A G Axis ID or Group ID ANDdis 16 bit AND mask See Table MCRx amp AND OR masks for DISIO n and Table MCRx amp PxDIR addresses ANDen 16 bit AND mask See Table MCRx amp AND OR masks for ENIO n and Table MCRx amp PxDIR addresses ANDin 16 bit AND mask See Table AND OR masks for SETIO n IN ANDm 16 bit user defined AND mask ANDout 16 bit AND mask See Table AND OR masks for SETIO n OUT ANDrst 16 bit AND mask See Table AND OR masks for ROUT n Technosoft 2006 106 MotionChip Il TML Programming ANDset 16 bit AND mask See Table AND OR masks for SOUT n Bit mask 16 bit AND mask See Tables PxDIR amp Bit_ mask for V16 IN n and table MCRx amp PxDIR addresses D_ref 32 bit fixed value D_time 16 bit value Flag Condition Flag for GOTO CALL LengthMLI Length of a TML instruction code in words 1 MCRx See Tables MCRx
192. he user variable is one The correspondence with the input lines is the following IN 36 gt bit 0 IN 37 gt bit 1 IN 38 gt bit 2 IN 39 gt bit 3 of the user variable In the second TML instruction you can set the 4 outputs according with the 4LSB from the user variable The 12MSB of the user variable must be set to zero If a bit in the user variable is zero the corresponding output line is set low If a bit in the user variable is one the corresponding output line is set high The correspondence with the output lines is the following Technosoft 2006 63 MotionChip Il TML Programming User variable Bit 0 gt OUT 28 bit 1 gt OUT 29 bit 2 gt OUT 30 bit 3 gt OUT 31 Remark When reading inputs or setting outputs keep in mind that the I O status refers to the MotionChip Il pin If your drive has either the inputs or outputs inverted you must reverse the logic levels presented above For example if the general purpose outputs are inverted the OUTPORT command with the 4LSB bits at zero sets the 4 output lines high The command SOUT n will set low the output line n and the command ROUT n will set the same output high If you application require more inputs or more outputs you have the possibility to change some of the general purpose outputs into inputs and vice versa using the following commands SETIO n OUT Set the I O line n as an input SETIO n IN Set the I O line n as an output where n is
193. hip II TML Programming Hence the pulse and direction signals can be interpreted either as a position reference or as a speed reference Depending on the reference type you can have e Position pulse amp direction modes where the motor is controlled in position e Speed pulse amp direction modes where the motor is controlled in speed Table 2 7 presents the possible pulse amp direction modes Table 2 7 Pulse amp Direction Modes Controlled Loops Position Speed Category Motion Modes Position Pulse amp Direction Speed Pulse amp Direction Remarks e The selection of one of the above position pulse amp direction modes or speed pulse amp direction modes must match with the setup data like in the case of position and speed profiles see par 2 1 1 and 2 1 2 for details e As in most applications the current torque control is needed the IPM Motion Studio does not cover the setup options where current loop is not closed Therefore using IPM Motion Studio you can choose for position pulse amp direction only 2 options position loop with speed loop and current loop MODE PPD3 and position loop without speed loop and with current loop MODE PPD1 and for speed pulse amp direction only the option with both speed and current loop closed MODE SPD1 Related TML Variables TPOS Target position long position reference computed by the reference generator at each slow loop positio
194. i If the pointer variable is followed by a sign after the assignment the pointer variable is incremented by 1 p_var 0x4500 II set 0x4500 in pointer variable p_var varl p_var spi var1 value of the EEPROM memory location 0x4500 varl p_var spi var1 value of the EEPROM memory location 0x4500 Il p_var 0x4501 p_var 0x8200 II set 0x8200 in pointer variable p_var varl p_var pm var1 value of the SRAM program memory location 0x8200 varl p_var pm var1 value of the SRAM program memory location 0x8200 II p_var 0x8201 p_var 0xA00 II set OxAO0 in pointer variable p_var Technosoft 2006 67 MotionChip Il TML Programming varl p_var dm var1 value of the SRAM data memory location 0xA00 varl p_var dm var1 value of the SRAM data memory location 0xA00 Il p_var 0xA01 Remark Check the memory map par 1 8 for the valid address ranges of the 3 memory types EEPROM memory for TML programs SRAM memory for TML programs SRAM data memory 5 Source 16 bit immediate value decimal or hexadecimal or 16 bit TML data Destination a memory location indicated through a pointer variable The memory location can be of 3 types SRAM data memory dm SRAM memory for TML programs pm EEPROM SPl connected memory for TML programs spi If the pointer variable is followed by a sign after the assignment the pointer variable is incremented by 1 0x4500 II set 0x4500 in pointer variable p_var spi
195. ia a communication channel The host sends all the TML commands needed to program the motion but does not perform the drive setup This is done via a TML program executed automatically after power on The TML program can be developed using IPM Motion Studio 5 Full host control via a communication channel In this case the host performs both the drive setup and the motion programming There is no TML program stored in the drive You need this manual only if you plan to use options 4 or 5 The options 1 to 3 can be handled using IPM Motion Studio platform and its user friendly graphical programming Remarks e The 3 option requires the host to handle a limited number of TML instructions typically just for calling functions and asking getting status data You can quickly find the code of these instructions and how to pack them into communication messages by using the IPM Motion Studio tool Binary Code Viewer e Option 5 requires a good understanding of how to determine the TML parameters values This information is presented in the user manual MotionChip Il Configuration Setup Notational Conventions This document uses the following conventions e TML Technosoft Motion Language e Program examples are shown with a special font Here is an example ENIO 36 Configure dual function pin as 1 0 line 36 user_1 IN 36 Read I O line 36 data into variable user_1 Related Documentation from Technosoft MotionChip Il Configurati
196. iable e The 48 bit PROD register with the result of the last multiplication Technosoft 2006 73 MotionChip Il TML Programming Programming Examples long_var lt lt 3 II long_var long_var 8 int_var 16 Il int_var 16 OxFFFO int_var gt gt 3 int_var int_var 8 2 0xFFFE PROD lt lt 1 Il PROD PROD 2 Logic AND and OR A logic AND is performed between the operand and a 16 bit data the AND mask followed by a logic OR between the result and another 16 bit data the OR mask The operand is a 16 bit TML data TML register TML parameter or user variable The AND and OR masks are 16 bit immediate values decimal or hexadecimal Programming Examples int_var 13 Il int_var 13 0xD SRB int_var OxFFFE 0x2 Il setint_varbit0 0 and bit 1 1 Il int_var 12 0xC The SRB instruction modifies the TML data in specific conditions that avoid the interference with changes done in parallel by the MotionChip Il firmware This is particularly useful for the TML registers which have bits that can be manipulated both at firmware level and at TML level by the user A typical example is the interrupt flag register IFR where the interrupt flags set and reset by both the firmware and the user The SRB instruction allows you to set reset bits in a safe way without the risk of altering the settings done in parallel by the firmware Remark In the SRB instruction the address of the operand must be between 0x200 an
197. iable from another axis local source 32 bit value Example1 long VarLoc VarExt 15 VarExt VarLoc Before instruction After instruction VarLoc on local axis 0x1234ABCD VarLoc on local axis 0x1234ABCD VarExt on axis 15 X VarExt on axis 15 0x1234ABCD Example2 long VarLoc VarExt 15 VarExt dm VarLoc Before instruction After instruction VarLoc on local axis 0xF0E1A2B3 VarLoc on local axis 0xF0E1A2B3 VarExt on axis 15 X VarExt on axis 15 0xF0E1A2B3 Example3 long VarLoc int pVarExt 15 pVarExt dm VarLoc Before instruction After instruction VarLoc on local axis 0x2233FEDC VarLoc on local axis 0x2233FEDC pVarExt on axis 15 0x1234 pVarExt on axis 15 0x1234 At dm address 0x1234 x At dm address 0x1234 OxFEDC on axis 15 on axis 15 At dm address 0x1235 x At dm address 0x1235 0x2233 on axis 15 on axis 15 Example4 Technosoft 2006 162 MotionChip Il TML Programming long VarLoc int pVarExt 15 pVarExt dm VarLoc Before instruction After instruction VarLoc on local axis 0x2233FEDC VarLoc on local axis 0x2233FEDC pVarExt on axis 15 0x1234 pVarExt on axis 15 0x1236 At dm address 0x1234 x At dm address 0x1234 OxFEDC on axis 15 on axis 15 At dm address 0x1235 x At dm address 0x1235 0x2233 on axis 15 on axis 15 Technosoft 2006 163 MotionChip II TML Programming Name Get data from memory 16 bit 32 bit with direct addressing On line group
198. if bit 15 of OSR is 0 or the master target position TPOS if bit 15 of OSR is 1 See Motion Programming chapter for details about gearing reference parameters and implementation Sets the axis in the gear cam master operation mode SLAVEID 2 ID of the slave axis referenced SGM Enable Master in Electronic Gearing mode SRB OSR OxFFFF 0x8000 Set OSR register 15 bit to send reference position to slave axis 2 UPD Update immediate Technosoft 2006 272 MotionChip Il TML Programming Name SOUT Set output bit port I O group Syntax SOUT n Set OUT n to high state 1 Operands n number of output bit port 0 lt n lt 39 Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 PxDATDIR ANDset ORset Execution Sets the output bit port number n to high state Description SOUT n instruction sets the output status of the bit port number n Note that the bit port must be defined as an output port using the SETIO n OUT instruction Example SETIO 13 OUT Set IO line 13 as output SOUT 13 Set High to I O line 13 Technosoft 2006 273 MotionChip II TML Programming AND OR masks for SOUT n PxDATDIR l n ANDset ORse
199. ific motion events as software protections control error wrap around limit switches captures contour segments events axis status etc PCR 13 8 Protections Control Register Used to examine the status of different protections in the system as over current Pt over and under voltage and TEMP1 TEMP2 inputs over limits The TML registers have reserved mnemonics but no especially dedicated instructions Hence in a TML program registers are treated like any other TML parameter or variable The configuration and command registers can be read or written The status registers can only be read 1 6 2 TML Parameters The TML parameters allow you to setup the parameters of the TML environment according with your application data Though most of the TML parameters have their own address there are some that share the same memory address They are used in application configurations that exclude each other and thus are not needed at the same time Technosoft 2006 8 MotionChip Il TML Programming Some TML parameters must be setup during the initialization phase They are used to define the real time kernel including the PWM frequency and the control loops sampling periods and should not be changed after the execution of the ENDINIT command The other parameters can be initialized used and changed any time before or after the ENDINIT command 1 6 3 TML Variables The TML variables provide you status information about the TML enviro
200. ifted with 0 to 15 bits before being stored in the PROD register At right shifts high order bits are sign extended and the low order bits are lost At left shifts high order bits are lost and the low order bits are zeroed The result is preserved in the PROD register until the next multiplication The first left operand can be e A 16 bit TML data TML parameter variable or user variable e A 32 bit TML data TML parameter variable or user variable The second right operand can be e A 16 bit immediate value e A 16 bit TML data TML parameter variable or user variable Programming Examples long_var 200 lt lt 0 II PROD long_var 200 fixed_var 10 lt lt 5 II PROD fixed_var 10 2 ie fixed_var 320 int_varl int_var2 gt gt 1 PROD int_var1 int_var2 2 long_var int_var gt gt 2 PROD long_var int_var 4 long_var PROD Il save 32LSB of PROD in long_var long_var PROD H Il save 32MSB of PROD in long_ var i e bits 47 15 Left and right shift The operand is left or right shifted with 0 to 15 The result is saved in the same operand At right shifts high order bits are sign extended and the low order bits are lost At left shifts high order bits are lost and the low order bits are zeroed The right shift is performed with sign extension The operand can be e A 16 bit TML data TML parameter variable or user variable e A32 bit TML data TML parameter variable or user var
201. ile Mode 1 UPD Update immediate ENLSP1 Positive Limit Switch triggers rising edge CSPD 20 New speed command counts sampling LSP Set event if Positive LimitSwitch is reached UPD Update on event Technosoft 2006 118 MotionChip Il TML Programming Name IMC Set event when the actual motion is completed Event group Syntax IMC set event if MotionComplete Operands Type TML program On line X X Binary code 145 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 Description Program the detection of the event once the actual motion sequence is completed An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when the actual motion sequence is completed The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC S153 Acceleration command for position profile counts sampling CSPD 40 Speed command for position profile counts sampling CPOS 50000 Position command counts CPA Position command is Absolute MODE PP3 Set Position Profile Mode 3 UPD Update immediate CPOS 100000 New position command counts IMC Set event when MotionCo
202. ing Examples int_var 10 Il int_var1 int_var1 10 int_var int_var2 Il int_var int_var int_var2 long_var 100 Il long_var long_var 100 long_var 100 long_var long_var2 long_var long_var long_var2 fixed_var 10 Il fixed_var fixed_var 10 0 fixed_var fixed_var2 fixed_var fixed_var fixed_var2 Subtraction The right side operand is subtracted from the left side operand The left side operand can be e A 16 bit TML data TML parameter or user variable e A32 bit TML data TML parameter or user variable The right side operand can be e A 16 bit immediate value e A 16 bit TML data TML parameter variable or user variable e A 32 bit immediate value if the left side operand is a 32 bit TML data Technosoft 2006 72 MotionChip Il TML Programming e A32 bit TML data TML parameter variable or user variable if the left side operand is a 32 bit data too Programming Examples int_var 10 Il int_var1 int_var1 10 int_var int_var2 Il int_var int_var int_var2 long_var 100 Il long_var long_var 100 long_var 100 long_var long_var2 long_var long_var long_var2 fixed_var 10 Il fixed_var fixed_var 10 0 fixed_var fixed_var2 fixed_var fixed_var fixed_var2 Multiplication The 2 operands are multiplied and the result is saved in a dedicated 48 bit register named PROD The result of the multiplication can be left or right sh
203. ing conditions e The encoder signals from the master are connected to the second encoder input of the drive e The drive is set as slave in electronic gearing or electronic camming with option Read master position from second encoder input activated When the programmed transition occurs the following happens e The value of the master position will be stored in the CAPPOS2 system variable e An event is detected and the update event and the wait event bits of the MSR register are set if a capture triggered CAP instruction was executed prior the occurrence of the capture e If an update on event was programmed a motion update is performed e The corresponding status bit in the MSR register Bit 8 position capture is set e The corresponding interrupt bit in the ISR register Bit 8 position capture is set and will determine the execution of the associated interrupt service routine if the corresponding mask bit from the ICR register is set e The DSP index capture pin is programmed as a general input data pin bit port 34 in TML A capture input is automatically disabled after the programmed transition was detected and the position was captured In order to reuse a capture input you need to enable it again Technosoft 2006 203 MotionChip Il TML Programming Execution Enable index2 capture on rising edge front transition from 0 to 1 Example CACC 0 5 Acceleration command for speed profile counts samp
204. ing mask bit from the ICR register is set e The positive limit switch pin is reprogrammed in the disabled mode and can be used as an input pin usable to get the status of the limit switch signal Use the DISLSP instruction to disable this function Use the LSP variable in order to examine the status of the positive limit switch pin Execution Enable falling edge front detection on positive limit switch Example CACC 1 5 Set acceleration command CSPD 20 Set speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate ENLSPO Positive Limit Switch triggers falling edge CSPD 20 Set new speed command counts sampling ILSP Set event if Positive LimitSwitch is reached Technosoft 2006 214 MotionChip Il TML Programming UPD Update on event Technosoft 2006 215 MotionChip Il TML Programming Name ENLSP1 Enable rising edge front detection on positive limit switch I O group Syntax Operands Type Binary code 1 3 ENLSP1 Enable Limit Switch Positive 0 gt 1 TML program On line X X soon O E 0 1 1 0 O D oo o lo s o ololw o lololo o lolo l o aolo oo JESI IPS o ololw ololN o lolo l a ololo Description Execution Example After the execution of this instruction the DSP will detect
205. into the local buffer Table 2 5 presents the possible contouring modes Table 2 5 Contouring Modes Controlled Loops Position Speed Torque Category Motion Modes Position Contouring Speed Contouring Torque Contouring Voltage Contouring Remarks e The selection of one of the above position contouring modes or speed contouring modes must match with the setup data like in the case of position and speed profiles see par 2 1 1 and 2 1 2 for details e As in most applications the current torque control is needed the IPM Motion Studio does not cover the setup options where current loop is not closed Therefore using IPM Motion Studio you can choose for position contouring only 2 options position loop with speed loop and current loop MODE PC3 and position loop without speed loop and with current loop MODE PC1 and for speed contouring only the option with both speed and current loop closed MODE SP1 Related TML Parameters REFO H Starting value int torque voltage contouring in torque voltage units Time Value or variable uint segment time interval in time units Technosoft 2006 28 MotionChip Il TML Programming Increment Value or variable fixed segment reference increment per time unit measured in e speed units for a position contouring segment e acceleration units for a speed contouring segment e current units time units for torque contouring e voltage
206. ion Interrupt Table start of the interrupt table IntO_Axis_disable_ISR Int1_PDPINT_ISR Int2_ Software Protection _ISR Int3 Control Error _ISR Int4 Communication Error _ISR Int5_Wrap_Around_ISR Int6_Limit_Switch_Positive_ISR Int7_Limit_Switch_Negative_ISR Int8_Capture_ISR Int9_Motion_Complete_ISR Int10_ Update Contour Segment _ISR Int11_ Event _Reach_ISR Int0_Axis_disable_ISR II Int0_Axis_disable_ISR body RETI RETurn from TML ISR Int2_Software_Protection_ISR Il Int11_Event_Reach_ISR body AXISOFF II set axis OFF if a protection is triggered RETI II RETurn from TML ISR Int11_Event_Reach_ISR Il Int11_Event_ Reach_ISR body RETI RETurn from TML ISR Technosoft 2006 62 MotionChip Il TML Programming 2 3 O Programming 2 3 1 General I O The MotionChip Il has a total of 40 pins that can be set as I O lines These pins are numbered from 0 to 39 All of them share the I O function with an alternate function like PWM output command receive and transmit for serial and CAN bus communication encoder inputs etc Most of the 40 pins are set by default for the alternate functions and cannot be used as general purpose I O Some of the remaining I O lines are used for special functions like the Enable input and the Ready or Error output Finally only 8 I O lines remain available and may be used as general purpose I O By default 4 are set as general purpose inputs and the other 4 as
207. ion command UPD start motion GOTO Exit exit Exit label Technosoft 2006 220 MotionChip Il TML Programming Name GROUPID Set group ID value Multiple axis group Syntax GROUPID value16 Set GROUP ID address Operands value16 16 bit integer immediate value Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 Value16 Description In multiple axis structures this command allows one to change the group ID of the local axis After the execution of this command the new ID value is recognized by the axis and is used by the communication drivers in order to accept or reject messages addressed to groups of axes Only the lower 8 bits of the value16 parameter are used for group coding Each bit corresponds to a group Up to 8 groups can be defined in a multiple axis structure An axis can belong to any of the 8 groups A multiple axis Message can be addressed to one or more of the axes Execution Group_ID value16 Example GROUPID 1 local axis belongs to groups 1 GROUPID 3 from now on the local axis belongs to group 3 G3 STOP3 stop the motion for all axes belonging to group 3 Technosoft 2006 221 MotionChip Il TML Programming Name INITCAM Init CAM table for electronic camming mode operation Miscellaneous group Syntax I
208. ion to 0 counts Set event when absolute position gt 60000 counts Update on event 267 MotionChip Il TML Programming Name SCIBR Set SCI serial communication baud rate Miscellaneous group Syntax SCIBR value16 Set SCI Baud Rate to value16 SCIBR VAR16 Set SCI Baud Rate to VAR16 Operands value16 16 bit integer immediate value 0 lt value32 lt 4 VART6 integer variable Type TML program On line X X Binary code SCIBR value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 Value16 SCIBR VAR16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 amp VAR16 Description Sets the value of SCI serial communication baud rate based on the value of the input parameter value16 Baud rates range from 9600 to 115200 baud The default baud rate value of the drive is 9600 Execution Sets the SCI serial communication baud rate based on value16 value Value16 SCI baud rate 0 9600 1 19200 2 38400 3 56600 4 115200 Example SCIBR 4 sets the SCI baud rate to 115200 baud Technosoft 2006 268 MotionChip Il TML Programming Name SEG Define a segment for contouring motion mode Configuration and command group Syntax SEG D time D ref SEGment D time D ref SEG VAR16 VAR32 SEGment VAR16 VAR3
209. is needed to implement the selected mode MODE SP1 one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPDI Technosoft 2006 239 MotionChip Il TML Programming Execution Sets the speed profile motion mode reference type Two cases are possible MODE Current controller SPO SP1 NI Example CACC 0 5 Acceleration command for speed profile counts sampling CSPD 20 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate Technosoft 2006 240 MotionChip Il TML Programming Name MODE SPD Speed pulse amp direction motion mode Motion mode group Syntax MODE SPDO MODE Speed External 0 MODE SPD1 MODE Speed External 1 T Operands Type TML program On line X X Binary code MODE SPDO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 MODE SPD1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 Description MODE SPDO SPD1 instruction defines the speed control operating in the pulse and direction reference motion mod
210. is paragraph describes the MotionChip II internal units IU and their correspondence with the international standard units Sl The values you set in the TML parameters must be always in internal units As the TML parameters may represent various signals position speed current voltage etc in order to correctly identify each category of internal units these have been named after their category For example the position units are the internal units for position the speed units are the internal units for speed etc Position units In the TML environment the internal position units IU are encoder counts The correspondence with the international standard Sl units is Position rad SX bo 4xNo_ encoder _ lines where No_encoder_ lines is the number of encoder lines per revolution Speed units In TML environment the internal speed units IU are encoder counts slow loop sampling period i e the position variation over one position speed loop sampling period The correspondence with the international standard SI units is Speedfrad s i Lo _ i Speed i u 4xNo_encoder_linesxTs_S where No_encoder_lines is the number of encoder lines per revolution Ts_S is the slow loop sampling period s Acceleration units In TML environment the internal acceleration units IU are encoder counts slow loop sampling 2 The correspondence with the international standard SI units is Acceleration rad s 2 2 m Accele
211. it switches to detect when then these have been reached In order to set an event on a limit switch input you need to 1 Enable the limit switch input capability to detect a low gt high or a high gt low transition The TML instructions for enabling transition detection on the limit switch inputs are e To enable detection of a high to low transition ENLSPO Activate LSP input capability to detect a falling transition ENLSNO Activate LSN input capability to detect a falling transition e To enable detection of a low gt high transition ENLSP1 Activate LSP input capability to detect a rising transition ENLSN1 Activate LSN input capability to detect a rising transition 2 Set a limit switch event with the TML instructions ILSP set event when transition is detected on positive limit switch LSN Il set event when transition is detected on negative limit switch 3 Wait for the event to occur with the TML instruction WAIT Remarks e Both limit switch inputs can be set in the same time to detect transitions as each input has its own event and TML interrupt e A limit switch input capability to detect transitions is automatically disabled after the programmed transition was detected In order to reuse it you need to enable it again If you have a limit switch input enabled to detect transitions and you want to disable this capability before sensing the transition use the following TML instructions
212. ition profiles execution when the target position reference computed by the reference generator at each step reaches the commanded position e During a STOP3 command when the target speed computed by the reference generator reaches zero By setting a motion complete event and waiting for its occurrence you can start the next move after the actual profile generation is completed Remark One way to execute successive position profiles where each move waits the previous one to finish is to start the first move and then program all the other moves with update on event UPD where the selected event is when the actual motion is completed 2 2 1 2 Function of motor position The monitored events are when the absolute or the relative actual motor position is equal or over under a 32 bit long value or the value of a long variable The comparison value is expressed in position units Remark The motor relative position is defined as the motor displacement from the beginning of the actual movement For example if a position profile was started with the absolute motor position 50000 counts when the absolute motor position reaches 60000 counts the relative motor position is 10000 counts 2 2 1 3 Function of motor speed The monitored events are when the actual motor speed is equal or over under a 32 bit fixed value or the value of a fixed variable The comparison value is expressed in speed units 2 2 1 4 After a wait time The monitore
213. ition value will be relative to the actual and respectively target motor position Execution Subsequent position commands are considered as relative Example CACC 0 5 Acceleration command for position profile counts sampling CSPD 20 Speed command for position profile counts sampling CPOS 40000 Position command counts CPA Position command is Absolute MODE PP3 Set Position Profile Mode 3 UPD Update immediate CPOS 80000 New Position command counts CPR Position command is Relative TUMO Target update mode 0 IN 38 1 Set event if INput 38 is high UPD Update on event WAIT WAIT until event occurs Technosoft 2006 192 MotionChip Il TML Programming Name DINT Disable TML interrupts Configuration and command group Syntax DINT Disable TML INTerrupts Operands Type TML program On line X X Binary code 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 Description After the execution of this instruction further TML interrupts are disabled Use the EINT instruction to re enable TML interrupts Execution Disable TML interrupts Technosoft 2006 193 MotionChip II TML Programming Name DIS2CAPI Disable Index2 capture I O group Syntax DIS2CAPI DISable 2nd CAPture Index Operands Type TML program On line
214. its position via a communication channel This option requires having the drives connected on a CAN bus or RS 485 network The master sends either the motor position if OSR 15 0 i e bit 15 from OSR register is 0 or the position reference if OSR 15 1 once at each slow loop speed position loop sampling time interval e The signals of the encoder connected to the master drive are also connected to the 2nd encoder input of the slave drives In both cases the slaves perform a position control They compute the master position increment and multiply it with their programmed gear ratio The result represents the increment of the reference position for the slaves which is added to previous reference position to obtain the new reference position for the slaves Remarks You need to programa drive as master in electronic gearing only if the master position is sent via a communication channel If actual position is sent the master can work in any motion mode If target position is sent the master should work in a mode that generates a target position By default the slow loop sampling period is set at 1ms If you intend to use the RS 485 to send a master position be aware that the transmission time for this operation at maximum baudrate of 115200 is close to 1ms and therefore occupies almost the entire communication bandwidth One way to reduce the overall communication charge is to increase with 50 100 the slow loop sampling peri
215. land MotionChip is a trademark of Technosoft SA MotionChip Il TML Programming This page is empty Technosoft 2006 VI MotionChip Il TML Programming Contents 1 TML Basic Concepts id 1 TML Overview chLoamocneialiii Mr et rs nes ten sa ae 1 EMLSENVIRONMOEN i sen retail Reel ein aerei 1 Program EX Gution oa iau ei ae 2 TML Program Strict r 5 niet ia Subs ane hi DELA eile iaia 3 TML Instruction Coding re esia ane de Ra Aer man he Rand tr ele ae 5 TM Data his ana ti te nn dit nt dico lila GI O i ii ns reer ern 5 1 11 TME ROJI tS sessions ta nest een en tant en AEAEE EES 7 t12 TML Paramete S site rh ane oli alleato latini 8 1 1 8 TMEVanables fi sn Mons a ne dico nr te e 9 t14 User Variables sise Datore Meet entita tata dl ita 9 TML Development tools sn iaia aaa ira 10 Memory Maps ilaele aaa a 10 AUTORUN imod s vi tarata Aus iosa simili ani aa 14 2 TML description ean ENEAN ENSAR E AAEN 19 Motion programming and control sise 19 2 1 1 Position Profile Modes tennant ent 20 2 1 2 Speed Profile Modes teer tnnn nnmnnn tent 25 2 1 3 Position Speed Torque Voltage Contouring Modes i 26 2 1 4 External Position Speed Torque Voltage Modes cececeecceceeeeeeeeteeneeaeeeeeeeeeneenaees 30 2 1 5 Position Speed Pulse amp Direction Modes 33 2 1 6 Electronic Gearing ModaSenin a iaia ila 35 2 1 7 Electr
216. lation step is 2 4 hence the master X values are spaced from 4 to 4 0 4 8 12 etc Bits 12 0 the length 1 of the table The length represents the number of points e 2nd and 3 words the master start position long expressed in master position units 2 word contains the low part 3 word the high part e 4 and 5 words Reserved Must be set to 0 e Next pairs of 2 words the slave Y positions long expressed in position units The 1 word from the pair contains the low part and the 2 word from the pair the high part e Last word the cam table checksum representing the sum modulo 65536 of all the cam table data except the checksum word itself Once define a cam table must be downloaded into the EEPROM memory of the drive Before enabling an electronic camming slave mode the cam table must be copied from the EEPROM into the SRAM program memory This operation can be done using the TML command INITCAM LoadAddress RunAddress where LoadAddress is the EEPROM memory address where the cam table was loaded and RunAddress is the SRAM program memory address where to copy the cam table After the execution of this command the TML variable CAMSTART takes the value of the RunAddress Remarks e When electronic camming slave mode is performed only the cam table from the SRAM program memory is used to compute the slave position e It is possible to download in the EEPROM memory several cam tables You can use INITCAM command
217. le The sequential commands can reside only in a TML program saved in the local memory Remark If a sequential command is sent via a communication channel it is immediately executed as if the wait loop condition is always true The on line commands may be sent only via a communication channel These commands can t be included in a TML program The on line commands do not have an associated mnemonic and syntax rules as they are do not need to be recognized by the TML compiler Remark Some of the on line commands are implemented in debugging tools like the Command Interpreter from IPM Motion Studio which was specifically designed to allow sending commands via a communication channel In this manual these commands are presented with a mnemonic like that used in the Command Interpreter 1 4 TML Program Structure The main section of a TML program starts with the instruction BEGIN and ends with the instruction END It is divided into two parts e Setup part e Motion programming part The setup part starts after BEGIN and lasts until the ENDINIT instruction meaning END of INITitialization This part of the TML program consists mainly of assignment instructions which shall set the TML registers and the TML parameters in accordance with your application data When the ENDINIT command is executed key features of the TML environment are initialized according with the setup data After the ENDINIT execution the basic c
218. ling CSPD 20 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate EN2CAPI1 Activate 2CAPI input to trigger a rising transitions CSPD 30 New acceleration command for speed profile counts sampling CAP Set event if CAPture is triggered UPD Update on event Technosoft 2006 204 MotionChip Il TML Programming Name ENCAPIO Enable index capture on falling edge front I O group Syntax ENCAPIO Enable CAPture Index 1 gt 0 Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 Description After the execution of this instruction the DSP will detect the first transition from 1 to 0 on the index capture input CAPI pin Index capture captures the motor actual position On capture the following happens e the value of the motor position will be stored in the CAPPOS system variable e aneventis detected and the update event and the wait event bits of the MSR register are set if a capture triggered CAP instruction was executed prior the occurrence of the capture e if an update on event was programmed a motion update is performed e the corresponding status bit in the MSR register Bit 8 position capture is set e the corresponding interrupt bit in the ISR register Bit 8 position capture is set and will d
219. lving the transfer of a 16 bit value from a source to a 16 bit destination The source can be e A 16 bit immediate value e A 16 bit TML data TML register parameter variable or user variable direct or negate e The high or low part of a 32 bit TML data TML parameter variable or user variable e Amemory location indicated through a pointer variable The destination can be e A 16 bit TML data TML register TML parameter or user variable e Amemory location indicated through a pointer variable Programming Examples 1 Source 16 bit immediate value Destination 16 bit TML data The immediate value can be decimal or hexadecimal user_var 100 Il set user variable user_var with value 100 user_var 0x100 Il set user variable user_var with value 0x100 256 2 Source 16 bit TML data Destination 16 bit TML data var_dest var_source copy value of var_source in var_dest var_dest var_source copy negate value of var source in var_dest 3 Source high or low part of a 32 bit TML data Destination 16 bit TML data The 32 bit TML data can be either long or fixed int_var long_var L II copy low part of long_var in int_var int_var fixed_var H II copy high part of fixed_var in int_var 4 Source a memory location indicated through a pointer variable Destination 16 bit TML data The memory location can be of 3 types SRAM data memory dm SRAM memory for TML programs pm EEPROM SPI connected memory for TML programs sp
220. manded by the 1 update is complete i e when target position reaches the command value 3000 Hence due to TUM1 mode the next absolute position command is 3000 3000 6000 It is important to note that the event motion complete refers to the target position and not to the actual motor position which follows the target usually with a certain delay If in the example below TUM1 command is replaced with TUMO the next position command will not be 6000 but 6000 the position error from the moment when target position reaches 3000 Technosoft 2006 282 MotionChip Il TML Programming Another difference between TUMO and TUM1 modes is related to the treatment of the target speed and position when the motion mode is changed Under TUMO mode each time the motion mode is changed the target speed takes the value of the actual motor speed and the target position takes the value of the actual motor position Under TUM1 mode the target speed and position remain unchanged providing a smoother glitch free transition of the target speed and position when motion modes are changed However it should be noted that the target speed and position are computed only in the speed position profile and speed position contouring modes If the system operates in other motion modes all motion mode changes must be done under TUMO mode Execution After a TUMO command the origin is considered as the actual motor position default After a TUM1 c
221. mode the associated pin is reprogrammed and can be used for its primary function on the DSP Execution Disable I O bit port number n 0 lt n lt 39 Technosoft 2006 196 MotionChip Il TML Programming MCRx amp AND OR masks for DISIO n n MCRx ANDdis ORdis n MCRx ANDdis ORdis 20 0x7092 OxFFFF 0x0010 21 0x7092 OxFFFF 0x0020 0 0x7090 OxFFFF 0x0001 22 0x7092 OxFFFF 0x0040 1 0x7090 OxFFFF 0x0002 23 0x7092 OxFFFF 0x0080 2 l0x7090 OxFFFF 0x0004 24 0x7092 oxFFFF 0x0100 3 0x7090 loxFFFF 0x0008 25 ox7094 loxFFFF 0x0001 4 0x7090 loxFFFF 0x0010 26 ox7094 loxFFFF 0x0002 5 0x7090 loxFFFF 0x0020 27 ox7094 OxFFFF l0x0004 6 0x7090 loxFFFF 0x0040 28 ox7094 loxFFFF 0x0008 7 l0x7090 loxFFFF 0x0080 29 ox7094 OxFFFF 0x0010 3 0x7090 loxFFFF 0x0100 are n Ga 9 0x7090 OxFFFF 0x0200 ai 10 0x7090 loxFFFF ox0400 SPA IORREEE 2 9x0040 11 l0x7090 oxFFFF 0x0800 32 0x7094 OxFFFF 0x0080 12 l0x7090 OxFFFF ox1000 33 0x7094 OxFFFF 10x0109 13 l0x7090 OxFFFF 0x2000 34 0x7094_ OxFFFF 10x9200 14 l0x7090 OxFFFF 0x4000 3510x7094 lt JOxFFFF 10x9400 15 l0x7090 OxFFFF 0x8000 36 0x7094 OxFFFF 1020800 16 0x7092 OxFFFF 0x0001 37 0x7094 OXFFFF 0x1000 17 0x7092 OxFFFF 0x0002 38 _10x7094 OxFFFF __ 0x2000 18 0x7092 OxFFFF 0x0004 19 0x7092 OxFFFF 0x0008
222. mplete UPD Update on event Technosoft 2006 119 MotionChip Il TML Programming Name IRO Set event when the reference is grater than a given value Event group Syntax IRO value32 if ReferenceOver value32 IRO VAR32 if ReferenceOver VAR32 Operands VAR32 long variable value32 32 bit long immediate value Type TML program On line X X Binary code IRO value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 1 0 LOWORD value32 HIWORD value32 IRO VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 1 0 amp VAR32 Description Program the detection of the event when the reference value is greater than the specified value An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs The reference value can be e a position reference e a speed reference e atorque reference e a voltage reference Execution Activate the setting of an event when the reference value is gt value32 or VAR32 respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Technosoft 2006 120 MotionChip Il TML Programming
223. n axis to group using the TML instructions ADDGRID REMGRID followed by an integer value between 1 and 8 Remark By default all the drives are set as members of group 1 When a TML Instruction is send through the serial or CAN bus channel the message consists of the axis or group ID followed by the instruction code see Figure 3 5 Axis Group ID Operation Code Data 1 Data 4 Figure 3 5 Message Structure In a serial or CAN message the axis or group ID is 16 bit word with the following structure 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 o o 0 G ID7 D6 15 Ip4 1D3 ib2 ID Ipo 0 o 0 H SR EC ee ee a Where e Bit 0 HOST bit In a network configuration the HOST bit indicates the destination axis for messages received by the relay axis 0 relay axis 1 host Messages received by the relay axis with HOST bit set to 1 will be retransmitted through RS 232 to the host Messages received by the relay axis with HOST bit set to 0 will be interpreted as commands for this axis and will be executed On RS 485 the host and the drives have different axis ID the HOST bit has as no significance and must be set to 0 e Bits 11 8 ID7 IDO the 8 bit value of an axis or group ID e Bit 12 GROUP bit 0 ID7 IDO value is an axis ID 1 ID7 IDO value is a group ID Technosoft 2006 88 MotionChip Il TML Programming 3 2 2 Serial communication protocol Serial settings and messag
224. n is equal or over a value or the value of a variable APU When motor absolute position is equal or under a value or the value of a variable IRPO When motor relative position is equal or over a value or the value of a variable IRPU When motor relative position is equal or under a value or the value of a variable ISO When motor speed is equal or over a value or the value of a variable ISU When motor speed is equal or under a value or the value of a variable IAT After a wait absolute time equal with a value or the value of a variable IRT After a wait relative time equal with a value or the value of a variable IRO When position speed torque voltage reference is equal or over a value or the value of a variable IRU When position speed torque voltage reference is equal or under a value or the value of a variable ICAP When the selected capture input is triggered ILSP When the positive limit switch is triggered ILSN When the negative limit switch is triggered lIIN n 1 When a digital input goes high lIIN n 0 When a digital input goes low Technosoft 2006 287 MotionChip Il TML Programming IVO When value of a variable is equal or over a value or the value of another variable IVU When value of a variable is equal or under a value or the value of another variable Only one event can be monitored at a time Execution Hold up execution of the following instructions until the monitored event occurs Example CACC 1 Acceleration c
225. n speed loop sampling period when position or speed pulse amp direction modes are performed Measured in position units TSPD Target speed fixed speed reference computed by the reference generator at each slow loop sampling period when position or speed pulse amp direction modes are performed Measured in speed units TACC Target acceleration fixed acceleration deceleration reference computed by the reference generator at each slow loop sampling period when position or speed pulse amp direction modes are performed Measured in acceleration units Technosoft 2006 34 MotionChip Il TML Programming APOS Actual position long motor position measured in position units ASPD Actual speed fixed motor speed measured in speed units Related TML Instructions MODE PPDx Set position pulse amp direction mode x x 3 2 1 0 MODE SPDx Set speed pulse amp direction mode x x 1 0 UPD Update motion mode and parameters Start motion STOPO STOP1 STOP2 or STOP3 Stop motion using methods 0 to 3 Programming Example MODE PPD3 set pulse amp dir mode 3 UPD update activate new mode Motion starts when external device provides pulses 2 1 6 Electronic Gearing Modes In the electronic gearing modes one drive is set as master and other drives are set as slaves The slaves follow the master position with a programmable ratio The slaves can get the master position in two ways e The master sends
226. nd again the last message else go to step 1 Repeat steps 1 to 3 until the drive answers with a SYNC byte or until 15 SYNC bytes are sent If after 15 SYNC bytes the drive still doesn t answer then there is a serious communication problem and the serial link must be checked When a host sends a type A message through RS 232 it has to e Send the message e Wait the acknowledge OK byte O from the drive Technosoft 2006 92 MotionChip Il TML Programming When a host sends a type B message through RS 232 it has to e Senda message with Give Me Data command e Wait the acknowledge OK byte O from the drive connected via RS 232 relay axis e Wait the response message from the drive to which the message is addressed The answer contains the command Take Data When the relay axis returns a Take Data message it doesn t expect to receive an acknowledge byte from the host It is the host task to monitor the communication If the host gets the response message with a wrong checksum it is the host duty to send again the Give Me Data request RS 485 communication protocol The RS 485 protocol is half duplex If two devices start by mistake to transmit in the same time both transmissions are corrupted Therefore for a correct operation in an RS 485 network it is mandatory to have a master which controls the transmission This means that only the master can initiate a transmission while all the other devices fr
227. nded to introduce a wait until the programmed event occurs Otherwise the TML program will continue with the next instructions that may override the event set for monitoring If the TML command WAIT is executed and the programmed event doesn t occur the TML program will remain in a loop In order to get it out of the loop you can send via a communication channel a GOTO command to a preset location which will move the program execution outside the wait loop The TML command WAIT is a sequential command This means that the WAIT command must be executed only as part of a TML program and not as a command sent on line via a communication channel If a host sends a WAIT command on line the wait condition is disregarded Programming Examples 1 IIN 4 0 set event when input IO 4 goes low CPOS 2000 command position is 2000 CPR Il command position is relative MODE PP3 Il set position profile mode 3 UPD I when the event will occur execute the move WAIT wait the event to occur ICAP set event when a capture input is triggered STOP3 Il smooth stop when event occurs WAIT Il wait the event to occur Technosoft 2006 54 MotionChip Il TML Programming 3 IRT 100 set a wait time event of 100 slow loop periods Il i e 100 ms for the default sampling values WAIT Il wait the event to occur 2 2 1 1 When the actual motion is completed The motion complete condition is set in the following conditions e During pos
228. ne moment For a brushless AC motor PMSM i e a brushless motor with sinusoidal control field oriented vector control generating sinusoidal currents and voltages the voltage commands are the amplitude of the sinusoidal phase voltages For the brushed DC and brushless DC motors the correspondence with the international standard SI units is Vdc Voltage command V 32767 Voltage commandi i u where Vdc is the rated DC link supply voltage V In MotionChip II the output voltage of each inverter is leg is set via a command in the range 32767 32767 The minimum value means that that lower transistor is all the time ON and upped one is OFF hence the inverter output voltage is 0 The maximum value means that the upper transistor is all the time ON and the lower one is OFF hence the inverter output voltage is equal with the DC link supply voltage minus a slight voltage drop Technosoft 2006 80 MotionChip Il TML Programming In the case of a brushed DC or brushless DC motor a voltage command for of let s say 16384 half of positive scale means that on one leg the command is 16384 and on the other leg it is negated that is 16384 This means that one motor leg is connected to a potential of of the DC link supply voltage while the other motor leg is connected to 1 4 of the DC link supply voltage The difference i e the motor voltage is half of the inverter supply For the brushless AC motor the co
229. new position plus the position error POSERR APOS TPOS new_value APOS POSERR The TML command STA sets the target position equal with the actual position TPOS APOS Remark The target position update with the actual position is automatically performed each time a new motion mode is set without TUM1 Together with the target position the target speed is also updated with the actual speed Related Instructions AXISON Set axis ON Activate control loops and PWM commands AXISOFF Set axis OFF Deactivate control loops and PWM commands STOPx Set stop mode x x 3 2 1 0 UPD Update immediate motion mode and parameters Start motion UPD Update the motion mode and parameters a programmed event occurs SAP V32 Set V32 in the actual or target position V32 is either a 32 bit immediate value or a long TML data user variable containing the value to set Technosoft 2006 49 MotionChip Il TML Programming STA Set target position TPOS equal with the actual position APOS Programming Example CACC 1 5 command acceleration 1 5 encoder counts sampling CSPD 20 command speed 20 counts sampling CPOS 20000 command position 2000 counts CPR command position is relative MODE PP3 set position profile mode 3 TUM1 keep the position and speed referenc UPD update start the motion STOP3 stop smoothly with CACC 1 5 IMC set event on motion complete WAIT wait for the
230. nment like the motor position speed and current the position speed and current commands etc These values may be used to take decisions in the motion program or for analysis and debug The TML variables are read only RO Modifying their value during motion execution may cause an improper operation of the motion system There are however specific situations when some TML variables may also be written R W variables Most of the TML variables are internally initialized after power on or during the setup phase at the execution of the ENDINIT command Activating the on chip logger module real time data tracking can also be implemented for any of these variables 1 6 4 User variables Besides the TML pre defined variables you can also define your own user variables You can use your variables in any TML instruction accepting variables of the same type The user variables type can be integer fixed point or long integer see Table 1 2 Table 1 2 TML data type Format Representation Range Signed integer 16 bits 32768 32767 0x8000 Ox7FFF 2147483648 2147483647 0x80000000 Ox7FFFFFFF Signed long integer 32 bits Integer part fractional 32 bits 32768 999969 32767 999969 part OxFFFF FFFF Ox7FFF FFFF The address of the user variables is automatically set in order of declaration starting with 0x03BO First integer variable takes address 0x3B0 next one 0x3B1 etc An int variable takes
231. nt group Syntax IRT value32 if RelativeTime gt value32 IRT VAR32 if RelativeTime gt VAR32 Operands VAR32 long variable value32 32 bit long immediate value Type TML program On line X X Binary code IRT value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 1 1 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 LOWORD value32 HIWORD value32 IRT VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 1 1 0 0 0 1 1 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 amp VAR32 Description Program the detection of the event when the system relative time is greater than the specified value An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when system relative time gt value32 or VAR32 respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 0 5 Set acceleration command CSPD 20 Set speed command CPOS 100000 Position command counts CPR Position command is Relative MODE PP3 Set Position Profile Mode 3 UPD Update immediate CSPD 30 New speed command IRT 2000 Set event if Relative Time gt 2000 UPD Update on event Technosoft 2006 127 MotionChip Il TML Programming
232. nt if speed gt 10 counts sampling STOP2 Stop mode 2 when event occurs WAIT Wait until event occurs Technosoft 2006 281 MotionChip II TML Programming Name TUM Target update mode Configuration and command group Syntax TUMO Set Target Update Mode 0 TUM1 Set Target Update Mode 1 Operands Type TML program On line X X Binary code TUMO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 TUM1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Description TUMO and TUMI target update mode 0 or 1 let the user to choose how to consider the origin for relative positioning commands After a TUMO command the origin is considered as the actual motor position default This option is useful in applications where for example the motor should move a specified distance after it reaches a contact event that can be signaled by setting an input event After a TUM1 command the origin is considered as the target position In this case successive relative moves can be commanded and the final target represents the exact sum of the individual commands In the example below ae update command occurs when the motion com
233. nt0_Axis_disable_ISR body RETI RETurn from TML ISR Int11 ayant Reach_ISR II Int11_Event_Reach_ISR body RE I RETurn from TML ISR Functionl Il Start of the first TML function named Function1 RET RETurn from TML function named Function 1 Funct Lo Il Start of the last TML function named FunctionX RET RETurn from the last TML function named Function X Figure 1 1 Typical structure of a TML Program Technosoft 2006 4 MotionChip Il TML Programming 1 5 TML Instruction Coding The TML instruction code consists of 1 to 5 16 bit words The first word is the operation code The rest of words if present represent the instruction data words The operation code is divided into two fields Bits 15 9 represent the code for the operation category For example all TML instructions that perform addition of two integer variables share the same operation category code The remaining bits 8 0 represent the operand ID that is specific for each instruction Operation Code Data 1 Data 4 Operation Code Structure Operation Category Operand ID bilie Sena 0 1 6 TML Data The TML works with the following categories of data e TML registers e TML parameters e TML variables e User variables All TML data are identified by their name The names of the TML registers parameters or variables are predefined and do not require to be declared The names of the user variables are at your choice You nee
234. o Remarks e Some applications may require starting the electronic cam from the Y position corresponding to the current position of the master You can find the Y position cam table output before activation of the electronic camming slave mode in order to move the motors to this position in the following way Activate a position profile mode for example to keep the current position Set TML parameter GEAR 0 then wait one slow loop sampling period see par 2 2 Read the Y position from TML variable EREF In order to stop computing Y when electronic cam slave mode is not active set GEAR to a non zero value for example GEAR 0 5 TML parameter GEAR is also used in electronic gearing slave mode to keep the gear ratio value e You can define a cam offset for each slave in order to shift the cam profile versus the master position Let s take for example a cam table defined between master angles 100 to 250 degrees If you define a 50 degrees cam offset the cam profile will execute between master angles 150 and 300 degrees The following relation exists between the master position MREF the cam offset CAMOFF the cam table X input MPOSO and the master resolution MASTERRES MPOSO MREF CAMOFF MASTERRES 2 Enable master position calculation from 2nd encoder inputs if the master position is provided via its encoder signals This operation is done with TML instruction EXTREF 2 The initial value of the
235. o due 100 Table 4 3 Program flow decision group ss 101 Table Ak l O group ris nn secon ess Nan iafan D ne MR i dei ani deli ns ne Nes I 101 Table 4 5 Assignment groUup iaia ila o aaa 102 Table 4 6 Arithmetic amp Logic group ss 103 Table 4 7 Configuration and Command group 103 Table 4 8 Communication amp Multiple axis group nenne 104 Table 4 9 Miscellaneous group etter ee eeee janana ai o E aa KanN ARARA IAA EREN 105 Table 4 10 On ME group eaei ciel A ERR 105 Table 4 11 TML Instructions Code Symbols 106 Technosoft 2006 X MotionChip Il TML Programming 1 TML Basic Concepts 1 1 TML Overview The Technosoft Motion Language TML is a high level language allowing you to e Setup a drive built with MotionChip II for a given application e Program and execute motion sequences The setup part consists in assigning the right values for the TML registers and parameters Through this process you can e Describe your application configuration as motor and sensors type e Select specific operation settings as motor start mode PWM mode sampling rates etc e Setup the controllers parameters current speed position etc The next part is for motion programming Here the TML allows you to Set various motion modes profiles contouring electronic gearing or camming etc Change the motion modes and or the motion parameters on the fly Execute homing sequences Control
236. ocol ariani 86 3 1 1 Axis Identification in a Multiple axis Network 86 3 1 2 Serial communication protocol 89 3 1 3 CAN bus Communication Protocol ss 94 4 TML instr cti n Set talia 99 TML instruction set description 106 Technosoft 2006 VII MotionChip Il TML Programming Figures Figure 1 1 Typical structure of a TML Program Figure 1 2 Memory map MotionChip Il based on TMS320LF2407A Figure 1 3 Memory map MotionChip Il based on TMS320LF2406 Figure 2 1 Position profile parameters Figure 2 2 Position profile On the fly change of motion parameters Figure 2 3 Position profile Automatic elimination of round off errors Figure 2 4 Speed profile parameters Figure 2 5 Reference generation in contouring modes Figure 2 6 Reference profile in test modes Figure 2 7 Electrical angle setup in test modes with brushless AC motors Figure 3 1 Serial RS 232 communication between a host and the MotionChip II Figure 3 2 Multi drop network using serial RS 485 communication Figure 3 3 Multi drop network using CAN bus communication 4 13 14 20 22 24 25 27 50 51 85 85 86 Figure 3 4 Multi drop network using CAN bus communication with host connected through RS 232 to an axis used as communication relay Figure 3 5 Message Structure Figure 3 6 Serial communication message format Figure 3 7 Serial message contents when TML instruction kpp 5 is sent Figure 3 8 Serial message
237. od Master mode Technosoft 2006 35 MotionChip Il TML Programming The master mode can be enabled with the TML command SG followed by an UPD update and can be disabled by the TML command RGM followed by an UPD In both cases this has no effect on the motion executed by the master When a drive is set as master it starts sending its actual position APOS or its target position TPOS to the axis or the group of axes specified in the TML parameter sLAvEID This contains either the axis ID of one slave or the value of a group ID 256 i e the group of slaves to which the master should send its position Before enabling the master operation for electronic gearing you need to initialize the slaves with the master position by setting the master to send its actual or target reference position to the slaves in the dedicated TML parameter MPoOSO This initialization is necessary to make sure that the slaves got the latest master position before entering in the slave mode Examples 255 MPOSO APOS set MPOSO on slave axis 255 with actual position of the master 255 MPOSO TPOS set MPOSO on slave axis 255 with target position of the master G2 MPOSO TPOS set MPOSO on all slave axes from group 2 with target position of the master Remark Make sure when the master position initialization is performed that all slave drives are powered and in communication Otherwise the initialization with master position will fail Slave mode
238. oft 2006 263 MotionChip II TML Programming AND OR masks for ROUT n PxDATDIR in ANDrst ORrst ANDrst oRrst OX709C 20 oxFFEF__ ox0000 OX709C 21 OxFFDF 0x0000 OXFFFE __ 0x0000 OX709C 22 loxFFBF 0x0000 OxFFFD__0xo000 OX709C 23 loxFF7F 0x0000 OxFFFB _ 0x0000 OX709E 24 loxFFFE 0x0000 OXFFF7 __10x0000 OX7095 25 OxFFFE ox0000 OxFFEF _ 0x0000 OX7095 26 OxFFFD 0x0000 OxFF DF _ 0x0000 0X7095 27 OxFFFB 0x0000 OxFFBF _ 0x0000 OX7095 28 loxFFF7 0x0000 0X7098 7 OxFF7F ox0000 5X7095 de OX709A 8 OxFFFE ox0000 PET A ee OX709A 9 OxFFFD ox0000 Do9 re OX709A 10 OxFFFB 0x0000 ine 3 Spor OX709A 11 oxFFF7 ox0000 I TE re OX709A 12 OxFFEF 0x0000 ene gt ressa Pena OX709A 13 oxFFDF_ ox0000 Si 2 Ss nur OX709A 14 OxFFBF _ 0x0000 oan 56 2 OX709A 15 loxFF7F 0x0000 xFFF7 10x0000 OX709C 16 0xFFFE_ 0x0000 DIS 37 _ OxFFEF__ 0x0000 OX709C 17 OxFFFD 0x0000 0X096 38 _ OxFFDF _ 0x0000 OX709C 418 loxFFEB ox0000 0X7096 39 0xFFBF 0x0000 0X709C 19 0xFFF7 0x0000 Technosoft 2006 264 MotionChip Il TML Programming Name SAOU Set automatic origin update Configuration and command group Syntax SAOU Reset Automatic Origin Update Operands Type TML program On line X X Binary code 15 14 13 12 11
239. om EREF H representing the current or voltage reference in current units or voltage units for the external torque or voltage modes Examples EREF 2000 External position mode Reference is set to 2000 position units EREF 1 5 External speed mode Reference is set to 1 5 speed units EREF H 5000 External torque mode Reference is set to 5000 current units CADIN SFTDIN AD50FF 16 bit TML parameters needed only for the external modes with analogue reference Are used to define the desired range for the position speed current or voltage command that corresponds to the analogue input range For details regarding how to set these parameters see MotionChip Il Configuration Setup user manual Related TML Variables AD5 TPOS TSPD TACC IQREF Technosoft 2006 16 bit unsigned integer value representing the value read from the analogue input REFERENCE The output of the 10 bit A D converter is set in the 10 MSB most significant bits of the ADS Target position long position reference updated at each slow loop position speed loop sampling period when position external mode is performed TPOS is set function of the analogue input value or with the EREF value Measured in position units Target speed fixed speed reference updated at each slow loop sampling period when position or speed external mode is performed TSPD is set function of the analogue input value or with the EREF value during external s
240. om the network may transmit only when the master asks them to provide some data Usually you should set as master your host After each command Type A or B sent by the host to one drive the drive will confirm the reception by sending one acknowledge Ok byte This byte is O ASCII code of capital letter o Ox4F If the host receives the O byte this means that the drive has received correctly checksum verification was passed the last message sent and now is ready to receive the next message The acknowledge Ok byte is not sent when the host broadcasts a message to a group of drives If any error occurs during the message reception for example if the checksum computed by the drive axis doesn t match with the one sent by the host the drive will not send the acknowledge Ok byte If the host doesn t receive any acknowledge byte for at least 2ms after the end of the checksum byte transmission this means that at some point during the last message transmission one byte was lost and the synchronization between the host and the relay axis is gone In order to restore the synchronization the host should do the following 1 Send a 15 SYNC byte having value 0x0D higher values are also accepted 2 Wait a programmed timeout typically 2ms period for an answer 3 If the drive sends back the same SYNC byte the synchronization is restored and the host can send again the last message else go to step 1 If the drive still doesn
241. ommand the origin is considered as the target position Example CACC 0 5 Acceleration command for position profile CSPD 10 Speed command for position profile CPOS 3000 Position command CPR Position command is Relative MODE PP3 Set Position Profile Mode 3 TUM1 Set Target Update Mode 1 UPD Update immediate IMC Set event when MotionComplete CSPD 30 Speed command for position profile CPOS 3000 Position command CPR Position command is Relative MODE PP3 Set Position Profile Mode 3 TUM1 Set Target Update Mode 1 UPD Update on event WAIT WAIT until event occurs Technosoft 2006 283 MotionChip Il TML Programming Name UPD Update the motion immediate Configuration and command group Syntax UPD UPDate motion immediate Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 Description All motion parameters are buffered Consequently when a motion parameter is changed the new value is placed into a buffer This operation doesn t affect the reference generator which continues to generate the target reference using the previous motion parameters In order to activate the new motion parameters an update command must be issued The update command UPD transfers all motion parameters from buffers into the active regist
242. ommand for speed profile counts sampling CSPD 25 5 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate SO 10 Set event if speed gt 10 counts sampling STOP2 Stop mode 2 when event occurs WAIT Wait until event occurs Technosoft 2006 288 MotionChip Il TML Programming This page is empty Technosoft 2006 289 MotionChip Il TML Programming TECHNOS OFT
243. on Program the detection of the event when the selected variable any 32 bit TML variable is greater than the specified value or the value of another 32 bit variable An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when the selected variable VAR32A gt value32 or VAR32B respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 0 5 Set acceleration command CSPD 20 Set speed command CPOS 100000 Position command counts CPA Position command is Absolute MODE PP3 Set Position Profile Mode 3 UPD Update immediate CSPD 30 Set new speed command IVO APOS 50000 Set event when APOS is equal or over 50000 UPD Update on event Technosoft 2006 133 MotionChip Il TML Programming Name IVU Set event when a selected variable is equal or under a given value Event group Syntax IVU VAR32A value32 if Var32AUnder value32 IVU VAR32A VAR32B if Var32AUnder VAR32B Operands VAR32A long variable VAR32B long variable value32 32 bit long immediate value Type TML program On line X X Binary code IVU VAR32A value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 1
244. on Setup part no P091 055 MCII STP UM xxxx describes the MotionChip Il operation and how to setup its registers and parameters starting from the user application data This is a technical reference manual for all the MotionChip Il registers parameters and variables MotionChip Il Data sheet part no P091 055 MCII QFP100 DST xxxx presents the MotionChip Il features and specifications and how to interface it with typical external devices IPM Motion Studio User Manual part no P091 088 E075 UM xxxx describes how to use the IPM Motion Studio the complete development platform for MotionChip Il including motion system setup amp tuning wizard motion sequence programming wizard testing and debugging tools like data logging watch control panels on line viewers of TML registers parameters and variables etc Technosoft 2006 IV MotionChip Il TML Programming If you Need Assistance If you want to Visit Technosoft online Receive general information or assistance Ask questions about product operation or report suspected problems Make suggestions about or report errors in documentation Trademarks Technosoft 2006 Contact Technosoft at World Wide Web http www technosoftmotion com World Wide Web http Awww technosoftmotion com Email contact technosoftmotion com Fax 41 32 732 55 04 Email hotline technosoftmotion com Mail Technosoft SA Buchaux 38 CH 2022 Bevaix NE Switzer
245. on is achieved e After execution of the END instruction The on line commands have the highest priority and act like interrupts when an on line command is received through any communication channel it starts to be executed immediately after the current TML instruction is completed If an on line command is received during a wait loop e g when WAIT or SEG commands are processed the wait loop is temporary suspended to permit the execution of the on line command The TML works with 3 types of commands presented in Table 1 1 Table 1 1 Type of TML commands TML Command Type Execution From a TML program Send via communication Immediate NI NI Sequential On line E N Technosoft 2006 2 MotionChip Il TML Programming The immediate commands may be send via a communication channel or can reside a TML program These commands don t require any wait loops to complete Their execution is straightforward and can t be interrupted by other TML commands The sequential commands require a wait loop to complete i e will not permit IP to advance until the wait condition becomes true In this category enter commands like WAIT Wait a programmed event to occur SEG Time Increment Set a contour segment with parameters Time and Increment to be executed when the previous one ends local_variable x remote_variable Get value of remote_variable from axis x and put it in ocal_ variab
246. on sent on line is executed it will also contain an END instruction after the initialization of the stop mode The END instruction will stop the execution of any current TML program If a STOP instruction is executed from a TML program it will only stop the motor Technosoft 2006 278 MotionChip Il TML Programming Four cases are possible Stop Stop method STOPO Impose a voltage reference equal to 0 to the motor STOP1 Impose a current reference equal to 0 to the motor STOP2 Impose a speed reference equal to 0 to the motor Impose a speed reference equal to 0 to the motor STOP3 7 using the profiles acceleration value to brake Example CACC 1 55 Acceleration command for position profile counts sampling CSPD 20 Speed command for position profile counts sampling CPOS 100000 Position command counts CPR Position command is Relative MODE PP3 Set Position Profile Mode 3 UPD Update immediate CSPD 40 New speed command for position profile counts sampling RU 20000 Set event if Reference lt 20000 counts WAIT Wait until event occurs STOPO Apply 0 voltage reference to the motor Technosoft 2006 279 MotionChip Il TML Programming Name STOP Stop
247. onfiguration involving the motor and sensors types or the sampling rates cannot be changed unless a reset is performed Remark The MotionChip II Configuration Setup user manual specifies which TML parameters may not change after execution of the ENDINIT instruction The motion programming part starts after the ENDINIT instruction until the END instruction All the TML programs the main section should end with the TML instruction END When END instruction is encountered the sequential execution of a TML program is stopped Technosoft 2006 3 MotionChip Il TML Programming Apart from the main section a TML program also includes the TML interrupt vectors table the interrupt service routines ISRs for the TML interrupts and the TML functions A typical structure for a TML program is presented in Figure 1 1 BEGIN I TML program start ae Setup part of the main section ENDINIT end of initialization Il Motion programming part of the main section END Il end of the main section InterruptTable start of the interrupt vectors table IntO_Axis_disable_ISR Int1_PDPINT_ISR Int2_Software_Protection_ISR Int3_Control_Error_ISR Int4_Communication_Error_ISR Int5_Wrap_Around_ISR Int6_Limit_Switch_Positive_ISR Int7_Limit_Switch_Negative_ISR Int8_Capture_ISR Int9_Motion_Complete_ISR Int10_Update_Contour_Segment_ISR Intll_Event_Reach_ISR Int0_Axis_disable_ISR II I
248. onic Camming Modes 40 2 1 8 Motor Commands Stop Modes tter tenn nannan eenn 46 2 1 9 Torque Voltage Test Modes ala lara 50 2 1 10 Motion Mode Changing cest reari cto nn tree nn quake cts mens Re a 51 Program flow Comtrol ies 2 200282 annee me een nn a na na alia 53 2 1 TT EVENTS ER nn ere ian aaa narnia 53 21 12 GOTO CALL ian ar E E E rer E nn tentant de 59 21 13 INterrupts aAa ee a nr A ee E drama een aaa 60 OProgramming e 2258 eme ti italiana bic tnt AR et ein 63 21 14 General Of nettement tin Et A ne a As mars de 63 21 AD lt Captures an nat Ms A ae i ads A nr nt iii 64 21 16 Limit SWTENeS see tee ie cadano ani arl 65 Technosoft 2006 VII MotionChip Il TML Programming Assignm ert amp Data Transfer aria aaa aa 67 2 1 17 Setup 16 bit variable cece ee eeeeccae cece eres secccaaeaeeeeeeeseeseaeaeeeeeeeseeeeenaeas 67 2 1 18 Setup 32 bit variable ss 68 Arithmetic amp Logic Operations ressurss ecw rt den et ra da a ni 72 Multi axis control irc ttl Te ied Li eet 75 2 1 19Axis D Group IDin fatale denllani test et oliena lil 75 2 1 20 Data transfers between AXES inipit raaa A a E E a Ea E 75 21 21 Remot COO e iaia alora alata at 77 Miscellaneous commands ssh nue a a iL aaa 78 Internal units and scaling factors 79 3 Communication Channels and Protocols ns 85 Communication channels iii 85 Communication prot
249. ons allow you to program the MotionChip Il built in motion controller in order to set different motion modes and trajectories Table 2 1 summarizes all the motion modes supported These are divided into 2 categories function of how the motion reference is generated e Motion modes with reference provided by an external device via an analog input pulse amp direction signals a master encoder or via a communication channel e Motion modes with reference computed by the internal reference generator In this category enter all the other motion modes Table 2 1 Motion modes Control Type Position Speed _ Torque Voltage _ Position prole v T T T7 speed prole TT Cd External reference read from the analogue input REFERENCE or set by an external device via a Motion Modes communication channel Pulse and direction J7 resttimied ram Technosoft 2006 19 MotionChip Il TML Programming 2 1 1 Position Profile Modes In the position profile modes the motor is controlled in position You specify the position to reach relative or absolute the acceleration deceleration rate and the slew travel speed The reference generator computes the position trajectory which results with a trapezoidal or triangular speed profile During motion you can change on the fly all the profile parameters see par 2 1 10 Target position position time Slew speed speed T acceleration Figure 2 1 Position
250. ontouring Set voltage contouring Voltage reference represents motor voltage for DC motor and quadrature component Q axis of the voltage vector for AC motors SEG Time Increment Set a contour segment with parameters Time and Increment TUM1 TUMO UPD Generate new trajectory starting from the actual values of position and speed reference i e don t update the reference values with motor position and speed Generate new trajectory starting from the actual values of motor position and speed i e update the reference values with motor position and speed Update motion mode and parameters Start motion STOPO STOP1 STOP2 or STOP3 Stop motion using methods 0 to 3 Technosoft 2006 29 MotionChip Il TML Programming Programming Example see Figure 2 5 MODE PC3 set position contouring mode 3 SEG 2 4 set 1st segment Increment position reference with 4 counts sampling in the next 2 samplings UPD update start motion SEG 4 2 set 2 segment SEG 4 1 set 35 segment SEG 2p Oi set 4 segment SEG 0 0 end contour sequence Remarks At the end of a contouring sequence the last reference value is kept constant The TML parameter REFO used to set the initial value for the torque or voltage contouring mode is also used under the name EREF in the external mode as reference set on line via a communication channel by an external device see par 2 1 4 The SEG 0 0 command
251. or control kernel implements the control loops including the acquisition of the feedback sensors the controllers the PWM command s the protections etc When the motion processor executes a motion command it translates them into actions upon the trajectory generator and or the motor control kernel 1 3 Program Execution The TML programs are executed sequentially one instruction after the other 16 bit instruction pointer IP controls the program flow As the binary code of a TML instruction may have up to 5 words during its execution the IP is increased accordingly When the execution of a TML instruction ends the IP always points to the next TML instruction or more exactly to the first word of its binary code The sequential execution may be interrupted by one of the following causes e A TML command received through a communication channel on line commands e A branch to the interrupt service routine ISR when a TML interrupt occurs e The need to send the master position to the slave axes when the current axis is set as master for electronic gearing or camming e A GOTO or CALL instruction e A return from a TML function RET or from a TML interrupt RETI e During the execution of the instructions WAIT wait event SEG new contour segment and data transfers between axes of type local_variable x remote_variable which all keep the IP unchanged i e loop on the same instruction until a specific conditi
252. otion mode and parameters Start motion STOPO STOP1 STOP2 or STOP3 Stop motion using methods 0 to 3 Programming Example EXTREF 1 external reference read from analog input MODE SEl set speed external mode 1 UPD update activate new mode Remarks TML instruction EXTREF 2 sets a third way of providing an external reference using incremental encoder signals connected to the MotionChip Il 2 encoder inputs This external mode is used only for electronic gearing and camming modes and will be presented later on TML instructions EXTREF 0 1 or 2 are exclusive After power on EXTREF 0 is set by default After an EXTREF 1 command EXTREF 0 is disabled and all the external reference modes are read from the analogue input 2 1 5 Position Speed Pulse amp Direction Modes In the pulse amp direction modes you can drive your motor using a Pulse amp Direction command provided by an external device The Pulse amp Direction command consists of 2 digital signals that must be connected to especially dedicated inputs e Pulse a sequence of pulses Each pulse represents a position unit The sum of the pulses indicates the position displacement to be performed The variation of number of pulses per time unit represents a speed reference e Direction a digital signal which indicates the reference sign Depending on Direction value the pulses are counted up or down Technosoft 2006 33 MotionC
253. otion segment SEG 0 0 End of contouring mode Technosoft 2006 269 MotionChip Il TML Programming Name SETIO Set bit port as input or output port I O group Syntax SETIO n IN SETIO n as Input port SETIO n OUT SETIO n as OUT put port Operands n number of output bit port 0 lt n lt 39 Type TML program On line X X Binary code SETIO n IN 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 PxDATDIR ANDin ORin SETIO n OUT 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 PxDATDIR ANDout ORout Description SETIO n instruction defines the operating mode of bit port number n Each of the bit ports can thus be individually defined and used as an input in assignment instructions having the source operant IN n or output in instruction SOUT n bit port Execution Define the operating mode for bit port number n Example int vl SETIO 13 OUT Set IO line 13 as output ROUT 13 Reset IO line 13 as output SETIO 14 IN Set IO line 14 as input vl IN 14 Read I O line 14 data into variable vl AND OR masks for SETIO n IN AND OR masks for SETIO n OUT PxDATDIR n ANDin ORin n ANDout ORout 0X7098 0 OxFEFF 0x000
254. otor control performance is slightly degraded 5 Enable operation in one of the electronic camming slave modes Depending on the control structure the following four motion modes are possible for the slaves Table 2 9 Electronic Cam Slave Motion Modes Electronic Cam Slave Controlled Loops Motion Modes Position Speed Torqu e Technosoft 2006 43 MotionChip Il TML Programming Remarks CS3 CS2 CS1 lt 2_ 2_ 2_ RES CSO e The selection of one of the above electronic camming modes must match with the setup data like in the case of position and speed profiles see par 2 1 1 and 2 1 2 for details e As in most applications the current torque control is needed the IPM Motion Studio does not cover the setup options where current loop is not closed Therefore using IPM Motion Studio you can chose only between 2 options position loop with speed loop and current loop MODE CS3 and position loop without speed loop and with current loop MODE CS1 Related TML Parameters SLAVEID MREF CAMOFF MASTERRES APOS2 MSPD EFLEVEL the axis or group ID to which the master sends its position When group ID is used the SLAVEID is set with group ID value 256 int Slave location where the master sends its position long Measured in master position units Cam offset long The cam table X input MPOSO is computed by subtracting cam offset from the master position Measured in mas
255. ource is 4 input lines status of IO inputs 39 38 37 and 36 The variable VAR16D must be a valid variable name defined in the current TML application The selection of the IN n line is specific for each Technosoft drive Type TML program On line X X Binary code VAR16D IN n 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 0 0 0 0 9LSBs of amp VAR16D PxDATDIR 0 0 0 0 0 0 0 0 Bit_mask VAR16D INPUT1 ANDm 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 0 0 0 0 9LSBs of amp VAR16D 0 1 1 1 0 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 ANDm VAR16D INPUT2 ANDm 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 0 0 0 0 9LSBs of amp VAR16D 0 1 1 1 0 0 0 0 1 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 ANDm Technosoft 2006 143 MotionChip Il TML Programming VAR16D INPORT ANDm 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 o 1 1 o0 1 0o0 0o 9LSBs of amp VAR16D ANDm Description Assign the value status of input n or groups of input to the 16 bit destination variable Execution destination variable source input input lines status PxDATDIR amp Bit_mask n PxDATDIR Bit_mask PxDATDIR Bit_mask 20 0x709C 0x0010 0x7098 0x0001 21 0x709C 0x0020 1 0x7098 0x0002 22 0x709C 0x0040 2 0x7098 0x0004 23 0x709C 0x0080 3 0x7098 0x0008 24 0x709E 0x0001 4
256. ows an example where slew speed and acceleration rate are changed while the commanded position is kept the same Figure 2 2 Position profile On the fly change of motion parameters There is no restriction for the commanded position If during motion a new position command is issued that requires reversing the motor the reference generator does automatically the following operations e stops the motor with the programmed deceleration rate Technosoft 2006 22 MotionChip Il TML Programming e accelerates the motor in the opposite direction till the slew speed is reached or till the motor has to decelerate e stops the motor on the commanded position In position profile modes the reference generator automatically eliminates the round off errors which may appear when the commanded position cannot be reached with the programmed slew speed and acceleration deceleration rate This situation is illustrated by the example below Example The commanded position is 258 counts with the slew speed 18 counts sampling and the acceleration rate 4 counts sampling To reach the slew speed two options are available e Accelerate to 16 in 4 steps then from 16 to 18 in a 5 step Acceleration space is 49 counts e Accelerate from 0 to 2 in 1 step then from 2 to 18 in 4 steps Acceleration space is 41 counts For the deceleration phase the options and spaces are the same But no matter which option is used for the accele
257. p Technosoft 2006 91 MotionChip Il TML Programming Remarks 1 Ifthe host wants to get the value of the kpp parameter from another drive with axis ID 1 connected via CAN bus with the drive having axis ID 255 the destination ID becomes 0010h in instead of OFFOh in the Give Me Data message Take Data message also will have 0010h in instead of OFFOh as sender ID Hence the modifications are e Give Me Data byte 2 00h byte 3 10h checksum byte adjusted accordingly e Take Data byte 6 00h byte 7 10h checksum byte adjusted accordingly 2 Ifthe host is connected via RS 485 with a drive the 2 devices must have different axis ID values For example if the host ID 255 and the drive ID 1 the modifications compared with the above examples are e Give Me Data byte 2 00h byte 3 10h byte 7 FOh in sender ID the host bit 0 and the checksum byte adjusted accordingly e Take Data byte 3 FOh byte 6 00h byte 7 10h and the checksum byte adjusted accordingly RS 232 communication protocol The RS 232 protocol is full duplex allowing simultaneous transmission in both directions After each command Type A or B sent by the host the drive will confirm the reception by sending one acknowledge Ok byte This byte is O ASCII code of capital letter o Ox4F If the host receives the O byte this means that the drive has received correctly checksum verification was passed the l
258. pdate operation when the monitored event occurs Execution Activate the setting of an event when motor speed gt value32 or VAR32 respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 0 005 Set acceleration command CSPD 20 Set speed command CPOS 100000 Position command counts CPA Position command is Absolute MODE PP3 Set Position Profile Mode 3 UPD Update immediate CACC 14 Set new acceleration ISO 15 Set event if speed gt 15 UPD Update on event Technosoft 2006 131 MotionChip Il TML Programming Name ISU Set event when speed is under a given value Event group Syntax ISU value32 if SpeedUnder value32 ISU VAR32 if SpeedUnder VAR32 Operands VAR32 fixed variable value32 32 bit fixed immediate value Type TML program On line X X Binary code ISU value32 15 14 13 12 11 10 9 8 7 6 5 4 3 1 0 1 1 1 0 0 0 0 1 0 0 0 0 1 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 LOWORD value32 HIWORD value32 ISU VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 amp VAR32 Description Program the detection of the event when the motor speed is smaller than the specified value An update on event command
259. peed mode and is computed from TPOS in external position mode Measured in speed units Target acceleration fixed acceleration or deceleration reference computed by the reference generator at each slow loop sampling period from the position or speed external references Measured in acceleration units Current reference updated at each fast or slow loop function of the analogue input value or set with EREF value when torque external mode is performed Measured in current units 32 MotionChip Il TML Programming UQREF Voltage reference updated at each fast or slow loop function of the analogue input value or set with EREF value when voltage external mode is performed Measured in voltage command units APOS Actual position long motor position measured in position units ASPD Actual speed fixed motor speed measured in speed units IQ Motor current measured in current units Related TML Instructions MODE PEx Set external position mode x x 3 2 1 0 MODE SEx Set external speed mode x x 1 0 MODE TES Set external torque mode slow MODE TEF Set external torque mode fast MODE VES Set external voltage mode slow MODE VES Set external voltage mode fast EXTREF 0 Set external reference type provided on line in EREF via communication EXTREF 1 Set external reference type read from analog input EXTREF 2 Set external reference type read from second encoder input UPD Update m
260. peration Miscellaneous group Syntax NOP No Operation Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Description NOP instruction can be used to introduce a delay between two instructions It also can be used as a labeled instruction for GOTO instructions Execution No operation is executed The TML program will continue with the next instruction Example CACC 0 5 Acceleration command for speed profile counts sampling CSPD 20 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate CSPD 30 New jog speed command for the next update UPD on the fly change of jog speed during motion LOOP NOP no operation GOTO LOOP infinite loop exit only by RESET or a TML interrupt Technosoft 2006 253 MotionChip II TML Programming Name OUTPORT Output to user port I O group Syntax OUTPORT VAR16 OUTput VAR16 value to IOPORT Operands VAR16 integer variable Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 011110111110 OLSBs of amp VAR16 Description The OUTPORT instruction sends a 16 bit value to the user output port VAR16 variable can be any of the TML or user variables See details about user output I O port according to the drive Execution The 16 bit value of Var16 is send to the user output por
261. profile parameters Once programmed the motion profile parameters are memorized If you intend to use the same values as previously defined for the acceleration rate the slew speed the position increment or position to reach you don t need to set these again each time you program a new position profile Depending on the control structure used four position profile modes are possible Table 2 2 Position Profile Motion Modes Position Profile Controlled Loops Motion Modes Position Speed Torque Technosoft 2006 20 MotionChip Il TML Programming The selection of one of the above position profile modes must match with the setup data For example you can choose to perform a position control with or without closing the speed loop and with torque current loop closed In the first case the position controller provides a speed command for the speed controller who on its turn provides a current command for the current controller In this case you should use the TML instruction MODE PP3 In the second case the position controller provides directly the current command for the current controller and you should use the TML instruction MODE PP1 As the tuning for the position controller is different in the 2 cases it is not possible to switch on the fly between MODE PP3 and MODE PP1 During the setup phase you have to chose one option and set the parameters accordingly Then during the motion programming you need to use th
262. que reference when torque control is performed The voltage reference when voltage control is performed Depending on the reference type selection the comparison value is a e 32 bit long integer value for position reference expressed in position units e 32 bit fixed value for speed reference expressed in speed units e 32 bit long integer value where the current reference is in the 16MSB part and the 16LSB part is 0 where the 16MSB value is expressed in current units e 32 bit long integer value where the voltage reference is in the 16MSB part and the 16LSB part is 0 where the 16 MSB value is expressed in voltage command units Remarks e Setting an event based on the position or speed reference is particularly useful for open loop operation where motor position and speed is not available e Itis the user responsibility to know in which mode the drive operates when this event is set and to set the comparison value accordingly 2 2 1 6 Function of inputs status You can define events function of the following inputs status e Capture inputs e Limit switch inputs e General purpose digital inputs Technosoft 2006 56 MotionChip Il TML Programming Capture inputs The MotionChip Il has two capture inputs IN 5 Z1 CAPI and IN 34 H2 Z2 2CAPI These can be programmed to sense either a low to high or high to low transition Typically on the IN 5 Z1 CAPI input is connected the motor encoder index and on the IN 34 H2 Z2 2CAPI input is connec
263. r in the high part of the TML parameter EREF i e in EREF H After reset the default value of EREF H is zero Technosoft 2006 27 MotionChip Il TML Programming The contouring modes require a local memory where to place the sequence of contour segments to be executed First the contouring mode must be set and the first segment should be provided Then the contouring mode can be activated with the UPD command Once a contouring mode is activated the rest of the segments are automatically executed The sequence of contour segments must end with a segment where the time interval is 0 When a sequence of contour segments is executed the TML instruction pointer IP advances as the segments are executed When the reference generator starts working with a new segment at TML program level the IP advances to the execution of the next contour segment instruction The execution of a TML instruction for a contour segment means to copy the segment data into a local buffer and then wait i e loop on the same instruction until the previous segment currently under execution at reference generator level will end This procedure permits to immediately start the execution of the next contour segment when the current one ends because the next segment data are already available in a local buffer Each time the reference generator starts to execute a new segment the IP advances to the next contour segment and its data are transferred
264. r variable The memory location can be of 3 types SRAM data memory dm SRAM memory for TML programs pm EEPROM SPl connected memory for TML programs spi If the pointer variable is followed by a sign after the assignment the pointer variable is incremented by 2 p_var 0x4500 II set 0x4500 in pointer variable p_var p_var spi 200000 write 200000 in the EEPROM memory location 0x4500 p_var spi varl write var1 value in the EEPROM memory location 0x4500 Il p_var 0x4502 p_var 0x8200 II set 0x8200 in pointer variable p_var p_var pm 3 5 Il write value 3 5 in SRAM program memory location 0x8200 p_var pm vari write var1 value in SRAM program memory location 0x8200 Il p_ var 0x8202 p_var 0xA00 II set OxA00 in pointer variable p_var p_var dm 1L Il write 1 OxFFFFFFFF in the SRAM data memory 0xA00 p_var dm vari write var1 value in the SRAM data memory location OxA00 Il p_var 0xA02 When this operation is performed having as source an immediate value the TML compiler checks the type and the dimension of the immediate value and based on this generates the binary code for a 16 bit or a 32 bit data transfer Therefore if the immediate value has a decimal point it is Technosoft 2006 70 MotionChip Il TML Programming automatically considered as a fixed value If the immediate value is outside the 16 bit integer range 32768 to 32767 it is automatically considered as a long value
265. r1 INPUT2 0x00E7 Before instruction After instruction IN 39138137136135134133 IN 39 38 37 36 35 34 33 Input 1lolo 1 1 o 1 input 1 o o 1 1 o 1 state state Var1 x Var1 0x0045 IN 39 38 37 36 35 34 33 Input state 1 0 1 1 0 1 din Bitwise coli 1 1 0 1 1 1 operation Var1 1 0 0 0 1 0 1 Example4 int Var1 Var1 INPORT OxF Before instruction After instruction IN 39 38 37 36 IN 3913813736 Input state 1101111 Logic state 1101111 Var1 x Var1 0x000B Technosoft 2006 145 MotionChip Il TML Programming The inputs status IN 39 to IN 36 is saved in the 4LSB of the variable while the 12MSB are set to 0 If an input line is low the corresponding bit in the variable is zero If an input line is high the corresponding bit in the variable is one Name Assignment instruction for 32 bits TML variables Assignment group Syntax VAR32D value32 set VAR32D to value32 VAR32D VAR32S set VAR32D to VAR32S value VAR32D VAR16S lt lt N set VAR32D to VAR16S lt lt N VAR32D DM value32 set long VAR32D from DM to value32 VAR32D DM VAR32S set long VAR32D from DM to VAR32S VAR32D VAR16S TypeMem set VAR32D to amp VAR16S from TM VAR32D VAR16S TypeMem set VAR32D to amp VAR16S from TM then VAR16S 2 VAR16D TypeMem value32 set amp VAR16D from TM to value32 VAR16D TypeMem VAR32S set amp VAR16D from TM to VAR32S VAR16D TypeMem value32 set amp VAR16D from TM
266. ram see the programming example below Table 2 12 TML Interrupt Conditions TML Interrupt No Condition Description When ENABLE input changes Both transitions are monitored When power stage hardware protection is triggered When at least one software monitored protection over current Ft over temperature motor over temperature drive over voltage or under voltage is triggered When control error protection is triggered i e the difference between the target reference and actual feedback value goes over a programmed limit When a communication error occurs When 32 bit actual motor position wraps around When positive limit switch input LSP has detected a programmed transition When negative limit switch input LSN has detected a programmed transition When a capture input CAPI or 2CAPI has detected a programmed transition When motion is completed When a new contour segment can be provided When a programmed event has occurred 0 0 ND Co li Ao Remarks 1 By default during the execution of the ISR the TML interrupts are disabled If you want to enable in this period some of the TML interrupts set accordingly the interrupt mask in the ICR register and insert the EINT instruction that enables globally the interrupts 2 The interrupt conditions set the flags in the ISR register independently of the fact that the interrupts are disabled or enabled If an interrupt flag is set while the in
267. ration and deceleration phases the space that remains to be done at constant speed is not a multiple of 18 i e the position increment at each step So when to start the deceleration phase Table 2 3 presents the possible options and the expected errors Table 2 3 Round off error example Options and expected errors Acceleration Deceleration Space to do Time to go at Deceleration Target Space Space at constant constant speed starts after position speed Error counts counts counts sampling steps samplings counts 258 2 49 460 counts 160 18 8 8 49 counts 41counts 258 49 41 168 18 93 168 counts 258 41 49 41 counts 49 counts 168 counts 168 18 9 3 5 10 15 258 2 41 Sto 14 41 counts 41 counts 176 counts 176 18 9 7 5 10 15 49 counts 49 counts TML comes with a different approach It monitors the round off errors and automatically eliminates them by introducing during deceleration phase short periods where the target speed is kept constant Hence the target position is always reached precisely without any errors Technosoft 2006 23 MotionChip Il TML Programming 5 10 15 20 25 Figure 2 3 Position profile Automatic elimination of round off errors Figure 2 3 shows the target speed generated by TML for the above example During the deceleration phase the target speed e decelerates from 18 to 6 in 3
268. ration i u 4xNo_ encoder _linesx Ts_ S42 where No_encoder_lines is the number of encoder lines per revolution Technosoft 2006 79 MotionChip Il TML Programming Ts_S is the speed loop sampling period s Current units The correspondence with the international standard SI units is Current A Amane Current i u 65472 where ImaxPS is the power stage peak current i e the maximum measurable current A Typically a motor phase current is measured through transducers that provide a voltage proportional with the current value This is connected to a MotionChip II analogue input The currents are both positive and negative therefore the current transducer output is offset by half in order to get zero current at half A D input scale The power stage peak current is the current corresponding to half of the maximum value for the analogue input i e half of 3 3V After A D conversion 3 3V is 65472 Voltage command units The significance of the voltage commands as well as the scaling factors depend on the motor technology and the control method used For a brushed DC motor the voltage command is the voltage to apply between the motor phases For a brushless DC motor BLDC i e a brushless motor with trapezoidal control more exactly with commutation on Hall sensors causing trapezoidal BEMF the voltage command is the voltage to apply between 2 of the 3 motor phases These are the 2 phases that are supplied at o
269. re possible MODE Current controller SEO SE1 y Example MODE SEl Set Speed External Mode 1 UPD Update immediate Technosoft 2006 238 MotionChip Il TML Programming Name MODE SP Speed profile motion mode Motion mode group Syntax MODE SPO MODE Speed Profile 0 MODE SP1 MODE Speed Profile 1 T Operands Type TML program On line X X Binary code MODE SPO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 0 1 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 MODE SP1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 0 1 1 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 Description MODE SPO SP1 instruction defines the speed control operating in the profile reference motion mode In this mode the reference module will generate a ramp speed profile The reference will represent a speed reference value in speed control structures The reference is generated in the slow control loop position speed loop See Motion Programming chapter for details about speed profile reference parameters and implementation Depending on the selected option SPO SP1 the internal current control loop is activated or not depending on the system structure Note that if the current control loop
270. re the data memory extends with the external SRAM space from 0x8000 to OxFFFF The recommended way to organize the SRAM memory both for TML programs and data is A For MotionChip Il based on TMS320LF2406A e Data acquisitions at the beginning of the internal SRAM memory starting from address AOOh e Cam tables only if used after the data acquisitions until the end of the internal SRAM Typically you should start by checking if or how much space you need to reserve for cam tables and use the rest of the SRAM for data acquisitions Technosoft 2006 11 MotionChip Il TML Programming Remark You may also store TML programs in the internal SRAM memory However this will further reduce the limited space available for data acquisitions and cam tables Therefore it is highly preferable to store the TML programs in the EEPROM space Typically you may want to use the SRAM memory instead of the EEPROM memory for TML programs only during the application development in order to speed up testing due to a faster access B For MotionChip Il based on TMS320LF2407A e Data acquisitions at the beginning of the external SRAM memory not overlapped with the internal SRAM starting from address 8000h e TML programs for faster testing instead of using the EEPROM e Cam tables only if used after the data acquisitions until the end of the internal SRAM Remarks e In IPM Motion Studio if you chose to download and execute a TML program from the SRA
271. res The reference will be generated in the slow control loop position speed loop See Motion Programming chapter for details about contouring reference parameters and implementation Note that no control loop is needed to implement the selected mode The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD Execution Sets the voltage contouring motion mode reference type Example MODE VC Set Voltage Contouring REFO 0 00000 Initial reference SEG 100U 12 00000 Set 1 motion segment Increment voltage reference with 12 bits for the next 100 sampling periods UPD Update immediate SEG 100U 3 00000 Set 2 motion segment SEG 100U 15 00000 Set 3 motion segment SEG 0 0 End of contouring mode Technosoft 2006 248 MotionChip Il TML Programming Technosoft 2006 249 MotionChip Il TML Programming Name MODE VEF VES Voltage external motion mode Motion mode group Syntax MODE VEF MODE Voltage External Fast MODE VES MODE Voltage External Slow Operands Type TML program On line X X Binary code MODE VEF 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 MODE VES 15 14 13 12 11 10 9 8 7 6 5 4 3 2
272. resses start to stop Remarks 1 It is mandatory to end the main section of a TML program with an END command This stops the execution of the TML program resident in the memory All ML subroutines and interrupt service routines should be added after the END command IPM Motion Studio automatically handles these requirements when it generates the TML program to compile and download into the drive The END commands is also useful when you intend to change the TML program from the EEPROM of a drive set in AUTORUN mode i e which starts to execute automatically after reset the TML program from the EEPROM memory you should do the following e Send to the drive the command END to stop the current program execution In order to disable the power stage send also an AXISOFF command e Download the new program e Reset the drive The new program will start to execute When a drive is set in AUTORUN mode it checks the first EEPROM memory location at address 0x4000 to contain the binary code of the TML instruction BEGIN If this is true the drive continues to execute the next TML instructions from the EEPROM otherwise it Technosoft 2006 78 MotionChip Il TML Programming puts the drive in a wait Therefore for correct operation in AUTORUN mode it is important to have the TML program downloaded in EEPROM starting with first address 0x4000 and having the first TML instruction BEGIN 2 8 Internal units and scaling factors Th
273. riable or the following commands that support extended addressing long_var dm 100000 write 100000 in long_var using extended addressing long_var dm 0x100000 with 0x100000 in TMLparam using extended addressing var_dest dm var_source copy value of var_source in var_dest using Il extended addressing Technosoft 2006 71 MotionChip Il TML Programming 2 5 Arithmetic amp Logic Operations The TML offers the possibility to perform the following operations with the TML data Addition Subtraction Multiplication Left and right shift Logic AND and OR In all the cases except the multiplication the result of the operation is saved into the left side operand For the multiplication the result is saved in a dedicated 48 bit register named PROD For all the operations except the logic AND and OR the left side operand can be any 16 or 32 bit TML data The logic AND and OR are performed only with 16 bit data Addition The right side operand is added to the left side operand The left side operand can be e A 16 bit TML data TML parameter or user variable e A 32 bit TML data TML parameter or user variable The right side operand can be A 16 bit Immediate value A 16 bit TML data TML parameter variable or user variable A 32 bit Immediate value if the left side operand is a 32 bit TML data A 32 bit TML data TML parameter variable or user variable if the left side operand is a 32 bit data too Programm
274. rogramming The label must be an existing label name defined in the TML program a 16 bit program memory address otherwise an error will occur The VAR16 VAR32 must be an existing TML variable name an integer or long variable defined in the TML program otherwise an error will occur The flag imposes the test condition for the variable VAR16 VAR32 In case of a conditional decision instruction GOTO Label VAR16 32 Flag the variable specified is compared to 0 using one of the following test conditions variable EQ 0 Il variable 0 EQUAL variable NEQ 0 Il variable 0 NON EQUAL variable LT 0 Il variable lt 0 LESS THAN variable LEQ 0 Il variable lt 0 LESS OR EQUAL variable GT 0 Il variable gt 0 GREATER THAN variable GEQ 0 Il variable gt 0 GREATER OR EQUAL The GOTO instruction is executed only if the test condition is satisfied Example1 GOTO labell i_var2 LT jump to labell if i_var2 lt 0 GOTO label2 i_var2 LEQ jump to label2 if i_var2 lt 0 GOTO label3 i var2 GT jump to label3 if i_var2 gt 0 GOTO label4 unconditional jump to label4 Example2 GOTO MOVEP jump unconditionally GOTO MOVEP ASPD GT jump if motor speed gt 0 MOVEP program sequence to move to a specified position CACC 1 5 acceleration 1 5 counts sampling CSPD 20 slew speed 20 counts sampling CPOS my_pos posit
275. rrespondence with the international standard SI units is Voltage command V pees Voltage command i u 65534 In the case of a brushless AC motor the voltage commands are sinusoidal with mid point and amplitude equal with of the DC link supply voltage The 1 1 factor comes from a MotionChip Il advanced PWM control technique which add another 10 on the voltages applied on the motor DC link supply voltage units The correspondence with the international standard SI units for DC link supply voltage is Voltage V ees urable Vottageliu where VdcMaxMeasurable is the maximum measurable DC link supply voltage V Typically the DC link supply voltage is measured through a voltage divisor connected to an analogue input of the MotionChip II The maximum measurable DC link supply voltage is the DC link supply voltage that corresponds to the MotionChip Il maximum value for the analogue input i e 3 3V which after A D conversion is 65472 Time units In TML environment the internal time units IU are expressed in slow loop sampling periods The correspondence with the international standard SI units is Time s Ts_S Timeliu where Ts_S is the speed loop sampling period For example if Ts_S is 1ms one second is 1000 in internal time units Current increment units The correspondence with the international standard SI units for current increment is Current Increment A s eS Current Increment i u 65472xT
276. s Table 2 10 Stop Modes Stop Modes Action Set speed control and decelerate with the rate set in TML parameter CACC until speed is 0 Set speed control and force speed reference to 0 Set torque control and force current reference to 0 Set voltage control and force motor voltage to 0 Select STOP3 to stop the motor smoothly with a deceleration rat set in TML parameter cacc When this command is executed the drive is automatically set in speed profile mode MODE SP1 with jog speed command 0 When the speed reference arrives at zero the motion complete condition is set Select STOP2 to stop very abruptly the motor When this command is executed the drive is automatically set in speed external mode MODE SE1 with on line speed reference set to 0 Remark STOP3 or STOP2 modes may not work correctly if in the setup data you have set your drive for position control without closing the speed loop In this case you ll close the speed loop using a speed controller whose parameters have not been properly set Select STOP1 to stop the motor when the drive performs torque control When this command is executed the drive is set in torque external mode MODE TES with on line current reference set to 0 Select STOPO to stop the motor when the drive performs voltage control When this command is executed the drive is set in voltage external mode MODE VES with on line voltage reference set to 0 STOPO is foreseen only
277. s SRAM data memory dm SRAM memory for TML programs pm EEPROM SPl connected memory for TML programs spi If the pointer variable is followed by a sign after the assignment the pointer variable is incremented by 1 if the destination is a 16 bit integer or by 2 if the destination is a 32 bit long or fixed local_var 2 p_var spi local_var value of EEPROM program memory II location from axis 2 pointed by p_var from axis 2 long_var 3 p_vart dm local long_var value of SRAM data memory II locations from axis 3 pointed by p_var from axis 3 II p_var is incremented by 2 int_var 4 p_var pm Il local int_var value of SRAM program memory II location from axis 4 pointed by p_var from axis 4 II p_var is incremented by 1 Remark When the remote source is a TML data its address must be between 0x200 and 0x3FF This happens for most of the TML data including all the user defined variables which take addresses between 0x3B0 to Ox3FF There are however a limited number of TML parameters and variables having an extended address situated between 0x800 and Ox9FF For these TML data you should use either indirect addressing via a pointer variable or the following command that supports extended addressing local_var 2 remote_var dm Il set local_var with value of remote_var Il from axis 2 using extended addressing In a write data to a remote axis or group of axes operation e The source is placed on the local
278. s Manual The TML programming of drives based on MotionChip Il involves 2 steps Step 1 Parameters setup Step 2 Motion programming The goal of first step is to set the TML parameters in accordance with the user application data This step is described in the user manual MotionChip II Configuration Setup This manual describes the second step Motion programming Both steps can be performed using IPM Motion Studio a development platform offering easy to use graphical programming for devices based on MotionChip II The output from IPM Motion Studio is a TML program which can be downloaded into the non volatile memory of the drive and can be started automatically after power on Depending on your application configuration you have the following options for splitting the tasks between your host and your drive based on MotionChip Il 1 Host control is absent The complete motion application is programmed in the drive using TML 2 Host control is done via I O handshake The host commands are set via digital or analogue signals The drive answers also using digital signals 3 Minimal host control via a communication channel The host control is reduced at calling motion functions implemented in the drive non volatile memory and requesting Technosoft 2006 Il MotionChip Il TML Programming status information The motion functions from the drive memory can be developed separately using IPM Motion Studio 4 Extended host control v
279. s in a TML program Configuration registers R W SCR System Configuration Register It s used to define the basic application configuration motor and sensors types presence of brake circuit OSR Operating Settings Register Used to define specific system operating settings as current offset detection mode Brushless AC motor start procedure PWM special features Command registers R W CCR Communication Control Register Contains settings for SPI ICR Interrupt Control Register Used to disable enable TML interrupts PCR 5 0 Protections Control Register Used to activate different protections in the system as maximum current Ft over and under voltage and over temperature Status registers RO AAR Axis Address Register Keeps the Axis ID and the group ID CBR CAN Baud rate Register Keeps the current settings for CAN bus 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 MCR Motion Command Register Contains information about the motion modes reference mode active control loops positioning type absolute or relative etc MSR Motion Status Register It s used internally by the TML kernel the register bits give indications about motion progress and spec
280. s_S where ImaxPS is the power stage maximum current A Ts_S is the speed loop sampling period s Technosoft 2006 81 MotionChip Il TML Programming Voltage command increment units Like in the case of the voltage command units the correspondence with the international standard SI units of the voltage increment units depends on the on the motor technology and the control method used For the brushed DC and brushless DC motors the correspondence with the international standard SI units is Vdc Voltage Increment V s 32767x Ts S Voltage Increment i u For the brushless AC motor the correspondence with the international standard SI units is 1 1x Vdc Voltage increment V s 65534x1s S Voltage incremeni i u where Vdc is the DC link supply voltage V Ts_S is the speed loop sampling period s Electrical angle units The correspondence with the international standard SI units is Electrical angle rad Electrical angle i u SELES 32768 The electrical angle is the mechanical angle divided by the number of pole pairs For example when a brushless motor with 2 pairs does half of revolution i e 180 mechanical degrees this corresponds to 360 electrical degrees Electrical angle increment units The correspondence with the international standard SI units is TT 32767 x Ts Cxpp Electrical angle increment i u Motor speed rad s where pp is the number of pair pol
281. signals the end of a contouring sequence time value being Zero The TML command SEG is a sequential command This means that SEG command must be executed only as part of a TML program and not as a command sent on line via a communication channel If a host sends contouring segments on line each time a segment command is received it starts to be executed immediately canceling previous segment processing Therefore the generated trajectory is incorrect 2 1 4 External Position Speed Torque Voltage Modes In the external modes you can drive your motor using a reference provided by an external device in one of the following ways e As an analogue signal connected to a dedicated analogue input of the MotionChip Il named REFERENCE 10 bit resolution e As a continuously updated data sent by the external device via a communication channel into the dedicated TML variable EREE In both cases depending on the reference type you can have Position external modes where the motor is controlled in position and the external reference is interpreted as a position reference Speed external modes where the motor is controlled in speed and the external reference is interpreted as a speed reference Torque external modes where the motor is controlled in torque and the external reference is interpreted as a current reference Voltage external modes where the motor is controlled in voltage and the external reference is interpreted as a volta
282. sk to return data for example the value of TML parameters registers or variables The type B message has two components e A request message sent through the TML command Give Me Data e An answer message sent through the TML command Take Data The Give Me Data request message includes the following information Give Me Data Message Contents Axis ID destination axis Operation Code B004h for 16 bit data B005h for 32 bit data Data 1 Sender Axis ID Data 2 Requested Data Address Technosoft 2006 89 MotionChip Il TML Programming The Take Data answer message includes the following information Axis ID destination axis Operation Code B404h for 16 bit data B405h for 32 bit data Data 1 Sender Axis ID Data 2 Requested Data Address Data 3 Data Requested 16LSB Data 4 Data Requested 16MSB for 32 bit data Example 1 A host is connected to a drive via RS 232 and sends a type A message with the TML instruction kpp 5 set proportional part of the position controller with value 5 The axis ID of host and of the drive are 255 OFFh The TML instruction code is Operation Code 205Eh Data 1 0005h The serial message package must have the following contents 06h length ID 2 Opcode 2 Data 2 OFh high byte of ID OFFOh FOh low byte of ID OFFOh 20h high byte of OpCode 205Eh 5Eh low byte of OpCode 205Eh 00h high by
283. slow control loop position speed loop See Motion Programming chapter for details about test reference parameters and implementation Note that the current control loop is needed to implement the selected mode thus one must define the corresponding parameters The selected motion mode will become effective at the first motion update command immediate update UPD or update on event UPD Execution Sets the torque test motion mode reference type Example MODE TT Set Torque Test Mode REFTST 40 Reference saturation value in test mode bits RINCTST 1 Reference increment value in test mode bits sampling UPD Update immediate Technosoft 2006 247 MotionChip Il TML Programming Name MODE VC Voltage contouring motion mode Motion mode group Syntax MODE VC MODE Voltage Contouring Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 Description MODE VC instruction defines the voltage control operating in the contouring reference motion mode In this mode the reference module will perform linear interpolation based on motion speed segments described using the SEG instruction The reference will represent a voltage reference value in voltage control structu
284. st reference in torque or voltage units int RINCTST reference increment at each slow loop sampling period int THTST initial value for the electrical angle in electrical angle units int TINCTST electrical angle increment at each fast loop sampling period int Related Instructions MODE TT Set torque test mode MODE VT Set voltage test mode UPD Update motion mode and parameters Start motion 2 1 10 Motion Mode Changing The TML allows switching all motion modes on the fly except for the test modes This feature is especially useful for position speed control applications where the target reference is provided by the internal trajectory generator using position speed profile modes position speed contouring modes electronic gearing electronic cam and stop modes On the fly changes of the motion modes are possible because the target reference is updated each time the motion mode changes Whenever a new motion mode is set the target position and the target speed reference are set to the actual values of the motor position and motor speed i e TPOS APOS and TSPD ASPD This default target update mode TUMO is particularly useful to perform precise relative positioning triggered by an external event because the input data for the relative position profile computation are the real motor position and speed There are however situations when the target reference update is not desired In these cases you can overwrite the default targe
285. stem settings AXISON activate control SAP 0 set actual position value u_var 19 SRB ICR 4095 4095 set interrupt masks CACC 0 5 set acceleration CSPD 30 set speed SP1 Set Speed Profile Mode 1 UPD start the motion EINT enable interrupts 1b1 GOTO 1b1 u_var GT loop while u_var gt 0 Technosoft 2006 259 MotionChip Il TML Programming My_flag u_var GOTO 1b1 END u_var GT Int0_ Disable u_var 100 RETI Int1_PDPINT u_var 101 RETI Int2_SoftProtection u_var 102 RETI Int3_ControlError u_var 103 RETI Int4_CommError u_var 104 RETI Int5_WrapAround u_var 105 RETI Int6_LimitSwitchP u_var 106 RETI Int 7_LimitSwitchM u_var 107 RETI Int8_Capture Technosoft 2006 CPOS CAPPOS UPD u_var 108 RETI _M otionComplete UPD u_var 109 RETI level 4 this instruction is executed after an interrupt again in the infinite loop if u_var gt 0 end the TML program after motion complete level 0 disable interrupt function level 1 PDPINT interrupt function level 2 Software protection interrupt function level 3 Control error interrupt function Communication error interrupt function level 5 Wrap Around interrupt function level 6 Positive
286. struction WAIT Remarks e If both capture inputs are activated in the same time the capture event is set by the capture input that is triggered first e A capture input is automatically disabled after the programmed transition was detected In order to reuse a capture input you need to enable it again If you have a capture input enabled and you want to disable it before sensing the transition use the following TML instructions DISCAPI Deactivate CAPI input Set CAPI pin as digital input DIS2CAPI Deactivate 2CAPI input Set 2CAPI pin as digital input Technosoft 2006 57 MotionChip Il TML Programming Limit switch inputs The MotionChip Il has two limits switch inputs IN 2 LSP and IN 24 LSN first for the positive direction and the second for negative direction Their goal is to protect against accidental moves outside the working area Limit switches working mode is presented in detail par 2 3 3 Like the capture inputs the limit switch inputs can be programmed to sense either a low to high or high to low transition When the programmed transition occurs the actual motor position is captured and stored in the dedicated variable named CAPPOS The position capture is done with a maximum delay of 5 us In many applications in order to determine the working area the initialization procedure requires to move the motor until one or both limit switches are reached You can program events on both positive or negative lim
287. t Example int Vart Varl 0x1255 setup Varl variable OUTPORT Varl output Varl value to user port Technosoft 2006 254 MotionChip Il TML Programming Name RAOU Reset automatic origin update Configuration and command group Syntax RAOU Reset Automatic Origin Update Operands Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Description The RAOU instruction resets the automatic origin update mode In this case the variable POSO is not changed at event occurrence and needs to be initialized by the user For successive motions the event tests for relative position will be based on the same value of the POSO parameter Use instruction SAOU in order to automatically update variable POSO after each detected event Execution Resets the automatic origin update Example CACC 0 5 Acceleration command for position profile counts sampling CSPD 20 Speed command for position profile counts sampling CPOS 80000 Position command counts CPA Position command is Absolute MODE PP3 Set Position Profile Mode 3 UPD Update immediate RAOU Reset automatic update mode POSO APOS Store the actual position as reference UPD Update immediate CSPD 40 New speed command
288. t ANDset OX709C 20 oxFFFF 0x0010 OxFEFF 0x0001 OX709C 21 oxFFFF_ ox0020 OxFEFF 0x0002 OX709C 22 OxFFFF 0x0040 OxFEFF l0x0004 OX709C 23 0xFFFF_ ox0080 OxFEFF l0x0008 OX709E 24 OxFFFF 0x0001 OxFEFF 0x0010 0X7095 25 0xFFFF_ ox0001 OxFEFF 0x0020 0X7095 26 0xFFFF_ 0x0002 OxFEFF 0x0040 0X7095 27 OxFFFF 0x0004 OxFFFF 0x0080 0X7095 28 oxFFFF_ 0x0008 OxFEFF l0x0001 0X7095 29 0xFFFF_ ox0010 OxFEFF 0x0002 0X7095 30 oxFFFF_ 0x0020 OxFEFF 0x0004 0X7095 31 OxFFFF 0x0040 OxFFFF 0x0008 0X7095 32 lOxFFFF 0x0080 OxFFFF 0x0010 0X7096 33 oxFFFF_ ox0001 OxFFFF_ 0x0020 0X7096 34 OxFFFF 0x0002 OxFFFF 0x0040 0X7096 35 OxFFFF 0x0004 OxFFFF 0x0080 0X7096 36 OxFFFF 0x0008 OxFFFF 0x0001 0X7096 37 oxFFFF_Jox0010 OxFFFF 0x0002 0X7096 38 OxFFFF 0x0020 OxFFFF 0x0004 0X7096 39 oxFFFF 0x0040 OxFFFF 0x0008 Technosoft 2006 274 MotionChip Il TML Programming Name SPIBR Set SPI serial communication baud rate Miscellaneous group Syntax SPIBR value16 Set SPI Baud Rate to value16 SPIBR VAR16 Set SPI Baud Rate to VAR16 Operands value16 16 bit integer immediate value 0 lt value32 lt 2 VART6 integer variable Type TML program On line X X Binary code SPIBR value16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 Value16 SPIBR VAR16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0
289. t target update mode 1 SEG 100U 5 00000 Set 1 motion segment UPD Update immediate SEG 100U 5 00000 Set 2 motion segment SEG 100U 20 00000 Set 3 motion segment SEG 100U 10 00000 Set 4 motion segment SEG 0 0 End of contouring mode STA Set target position value equal to the actual position value Technosoft 2006 277 MotionChip Il TML Programming Name STOP Stop the motion Configuration and command group Syntax STOPO STOP motion in mode 0 STOP1 STOP motion in mode 1 STOP2 STOP motion in mode 2 STOP3 STOP motion in mode 3 Operands Type TML program On line X X Binary code STOPO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 STOP1 145 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 _ _ _ STOP2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 _ _ _ STOP3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 _ _ _ _ Description STOP 0 1 2 3 instruction imposes a motor stop Four different stop modes can be used as presented in the table bellow Execution Stops the motion by applying a specific reference When a STOP instructi
290. t update mode by adding the TML instruction TUM1 between the motion mode setting and the update commands Technosoft 2006 51 MotionChip Il TML Programming The TUM1 command is particularly useful for open loop applications where there is no position speed feedback Here using TUM1 the target reference is preserved when motion modes are changed As in the speed profile or speed contouring modes the trajectory generator computes the target position by integrating the target speed it is possible to do on the fly transitions from these modes to position profile or position contouring modes even in the absence of motor feedback under TUM1 Technosoft 2006 92 MotionChip Il TML Programming 2 2 Program flow control In the TML you can control the program flow in 3 ways e By setting an event to be monitored and waiting the event occurrence e Through conditional or unconditional GOTO and CALL instructions e Through the TML interrupts which can be triggered in certain conditions 2 2 1 Events You can define an event a condition to be monitored and to perform one of the following actions e Change the motion mode and or the motion parameters when the programmed event occurs e Stop the motion with one of the 4 possible stop modes when the programmed event occurs e Wait for the program event to occur Remark Only a single event can be monitored at a time The programmed event is automatically erased if the event is reached or if a new e
291. tarting with first address 4000h e Cam tables after the TML program e Other data until the end of the EEPROM Remarks e Ifthe MotionChip Il is set in AUTORUN mode it checks the contents of the first EEPROM location at address 4000h If the data read matches with the binary code of the TML instruction BEGIN the first instruction in a TML program then the instruction pointer IP is set to 4000h and the TML program from the EEPROM is executed Technosoft 2006 10 MotionChip Il TML Programming e The overall dimension of a TML program includes apart from the main section the TML interrupt vectors table the interrupt service routines ISRs for the TML interrupts and the TML functions e IPM Motion Studio uses the last 68 words of the EEPROM space read some data about the drive like product ID firmware ID etc The next 2K of the TML program space from 8000h to 87FFh represents the Motion Chip Il internal SRAM memory From it the first 200h from 8000h to 81FFh are reserved for the internal use The rest from 8200h to 87FFh may be used to temporary store TML programs The MotionChip Il firmware can be programmed on two versions of DSP made by Texas Instruments TMS320LF2407A or TMS320LF2406A The TMS320LF2406A has no external interface hence only the internal SRAM may be used as TML program memory in the address range 8200h to 87FFh The remaining TML program memory space from 8800h to FFFFh is invalid The TMS320LF2407A offers
292. te of Data 1 0005h 05h low byte of Data 1 0005h 88h checksum Figure 3 7 Serial message contents when TML instruction kpp 5 is sent The host receives from the drive a byte 0x4F as confirmation that the message was received OK Remarks 1 If the host wants to sent the same TML instruction kpp 5 to another drive with axis ID 1 drive connected via CAN bus with the drive having axis ID 255 the destination ID becomes 0010h instead of OFFOh Hence the modifications are byte 2 00h byte 3 10h checksum byte adjusted accordingly 99h 2 Ifthe host is connected via RS 485 with a drive the two devices must have different axis ID values For example if the host ID 255 and the drive ID 1 the message is the same as in the previous remark Example 2 A host is connected to a drive via RS 232 and wants to get the value of the kpp parameter from the drive The ID of host and drive are 255 OFFh Let s suppose that the kpp value returned by the drive is 288 120h The host has to send a Give Me Data TML command with the following instruction code Technosoft 2006 90 MotionChip Il TML Programming Operation Code B004h 16 bit value Data 1 OFF1h sender ID destination ID HOST bit set l Data 2 025Eh kpp variable address The Take Data answer will have the following instruction code Operation Code B404h 16 bit value Data 1 OFFOh
293. ted the master encoder index when available When the programmed transition occurs on IN 5 Z1 CAPI input the actual motor position is captured and stored in a dedicated variable named CAPPOS When the programmed transition occurs on IN 34 H2 Z2 2CAPI input the master position APOS2 is captured and stored in a dedicated variable named CAPPOS2 When the position sensor is an incremental encoder the captured position is very accurate as the whole process is done in less than 200 ns The master position can be captured only in the following conditions e The encoder signals from the master are connected to the 2nd encoder inputs e The drive is set as slave either in electronic gearing or electronic camming with the option to read the master position from 2nd encoder inputs In order to set an event on a capture input you need to 1 Enable the capture input for the detection of a low gt high or a high gt low transition The TML instructions for enabling the capture inputs are e To enable detection of a high to low transition ENCAPIO Activate CAPI input to detect a falling transition EN2CAPIO Activate 2CAPI input to detect a falling transition e To enable detection of a low gt high transition ENCAPI1 Activate CAPI input to detect a rising transition EN2CAPI1 Activate 2CAPI input to detect a rising transition 2 Set a capture event with the TML instruction ICAP 3 Wait for the event to occur with the TML in
294. ter position units Master resolution used by slave s long Set at extended address 0x81A Can be read written using indirect addressing commands Measured in master position units Master position computed from 2 encoder inputs on slave axes long Set at extended address 0x81C Can be read written using indirect addressing commands Measured in master position units Master speed computed from 2 encoder inputs on slave axes long Set at extended address 0x820 Can be read written using indirect addressing commands Measured in master speed units Set to 0 enables and set to OxFFFF disables the synchronization of the slave s with the master when master position is sent via communication int Related TML Variables MPOSO CAMSTART TPOS Technosoft 2006 Cam table X input long MPOSO MREF CAMOFF MASTERRES Measured in master position units SRAM program memory start address for a cam table When several cam tables are used switching between them resumes to set CAMSTART to the right address i e the beginning of next the cam table to use CAMSTART is automatically set by the INITCAM command which copies the cam table from the EEPROM to the SRAM memory Target position long position reference computed by the reference generator at each slow loop position speed loop sampling period when 44 MotionChip Il TML Programming electronic camming slave modes are performed Measured in position uni
295. terrupt is disabled the flag remains set If later on the interrupt is enabled due to the flag set by a previous condition a TML interrupt is generated In order to avoid this situation before enabling an interrupt it is recommended to reset the corresponding interrupt flag 3 Use only the TML instruction SRB to set reset bits in the interrupt control ICR and the interrupt status ISR registers TML command SRB provides a safe mechanism which avoids errors when data of these registers is simultaneously modified by the user and internally due to a change in a monitored condition Related TML Parameters INITABLE Must be initialized with the start address of the interrupt table Related TML Instructions EINT Globally enables the TML interrupts Sets ICR 15 1 DINT Globally disables the TML interrupts Sets ICR 15 0 SRB ICR ANDm ORm Individually enable disable TML interrupts by setting resetting bits from ICR register according with AND mask ANDm and OR mask ORm SRB ISR ANDm 0 Reset interrupt flags in the ISR register according with AND mask ANDm Technosoft 2006 61 MotionChip Il TML Programming RETI Return from a TML interrupt service routine Programming Example BEGIN II TML program start I ITTABLE InterruptTable set interrupt table start address SRB ICR 4095 4 Il unmask INT2 Software Protection ENDINIT Il end of initialization EINT Il globally enable the TML interrupts END Il end of the main sect
296. the I O number Remark An I O line status change must be done only after carefully checking if your drive was designed to support it You can further extend the number of I O in some special situations by enabling the I O function for some pins set by default with the alternate function For example if your drive was designed to control only DC motors and uses just 4 PWM output commands the remaining PWM output commands may be transformed into general purpose I O This can be done with the command ENIO n Enable the use of pin n as an I O line The reverse is also possible i e to disable the I O function and activate the alternate function DISIO n Il Disable the use of pin n as an I O line Remark Enabling or disabling I O lines must be done only after carefully checking if your drive was designed to support it 2 3 2 Captures The MotionChip II has two capture inputs IN 5 Z1 CAPI and IN 34 H2 Z2 2CAPI These can be programmed to sense either a low to high or high to low transition Typically on the IN 5 Z1 CAPI input is connected the motor encoder index and on the IN 34 H2 Z2 2CAPI input is connected the master encoder index when available When the programmed transition occurs on IN 5 Z1 CAPI input the actual motor position is captured and stored in a dedicated variable named CAPPOS When the programmed transition occurs on IN 34 H2 Z2 2CAPI input the master position APOS2 is captured and stored in a dedicated variable n
297. the first transition from 0 to 1 on the positive limit switch input In this case the following happens the update event and the wait event bits of the MSR register are set if a positive limit switch triggered ILSP instruction was executed prior the occurrence of the transition if an update on event was programmed a motion update is performed the corresponding status bit in the MSR register Bit 6 is set the corresponding interrupt bit in the ISR register Bit 6 is set and will determine the execution of the associated interrupt service routine if the corresponding mask bit from the ICR register is set the positive limit switch pin is reprogrammed in the disabled mode and can be used as an input pin usable to get the status of the limit switch signal Use the DISLSP instruction to disable this function Use the LSP variable in order to examine the status of the positive limit switch pin Enable rising edge front detection on positive limit switch CACC CSPD MODE UPD CSPD p LSP Technosoft 2006 MotionChip Il TML Programming ENLSP1 Acceleration command for speed profile Speed command counts sampling Set Speed Profile Mode 1 Update immediate Positive Limit Switch triggers rising edge New speed command counts sampling Set event if Positive LimitSwitch is reached 20 216 UPD Update on event Technosoft 2006 217 MotionChip Il TML Programming
298. this paragraph help you to program assignment operations involving the transfer of a 16 or 32 bit value from a source to a 32 bit destination The source can be e A 32 bit immediate value Technosoft 2006 68 MotionChip Il TML Programming e A32 bit TML data TML parameter variable or user variable direct or negate e A 16 bit immediate value or a 16 bit TML data TML register parameter variable or user variable to be set in the high or low part of the destination a 32 bit TML data e A 16 bit TML data TML register parameter variable or user variable left shifted by 0 to 16 e Amemory location indicated through a pointer variable The destination can be e A 32 bit TML data TML parameter or user variable e Amemory location indicated through a pointer variable Programming Examples 1 Source 32 bit immediate value Destination 32 bit TML data The immediate value can be decimal or hexadecimal The destination can be either a long or a fixed variable long_var 100000 Il set user variable long_var with value 100000 long_var 0x100000 set user variable long_var with value 0x100000 fixed_var 1 5 Il set user variable fixed_var with value 1 5 0x18000 fixed_var 0x14000 Il set user variable fixed_var with value 1 25 0x14000 2 Source 32 bit TML data Destination 32 bit TML data var_dest var_source copy value of var_source in var_dest var_dest var_source copy negate value of var source in var_dest Rem
299. tion Over V32 IRPO val32 if Relative Position Over val32 IRPU IRPU V32 if Relative Position Under V32 IRPU val32 if Relative Position Under val32 Technosoft 2006 100 MotionChip Il TML Programming IRT IRT V32 if Relative Time gt V32 IRT val32 if Relative Time gt val32 IRU IRU V32 if Reference Under V32 IRU val32 if Reference Under val32 ISO ISO V32 if Speed Over V32 ISO val32 if Speed Over val32 ISU ISU V32 if Speed Under V32 ISU val32 if Speed Under val32 IVO IVO V32A V32B if V32A Over V32B IVO V32A val32 if V32A Over val32 IVU IVU V32A V32B if V32A Under V32B IVU V32A val32 if V32A Under val32 WAIT WAIT Wait until event occurs Table 4 3 Program flow decision group Mnemonic CALL Label Description Unconditional CALL of a function CALL Label V16 Flag CALL function if V16 Flag 0 CALL Label V32 Flag CALL function if V32 Flag 0 GOTO Label Unconditional GOTO to label GOTO Label V16 Flag GOTO label if V16 Flag 0 GOTO Label V32 Flag GOTO label if V32 Flag 0 RET Return from TML function RETI Table 4 4 I O group Return from TML Interrupt Service Routine Mnemonic Syntax Description DIS2CAPI DIS2CAPI Disable 2nd CAPI capture input DISCAPI DISCAPI Disable CAPI capture input DISIO n DISIO n Disable IO n DISLSN DISLSN Disable LS
300. tions and the controllers tuning Based on this information the IPM Motion Studio automatically generates the TML instructions needed to set the right values into the TML registers and parameters For the motion programming IPM Motion Studio offers the Motion wizard a collection of user friendly dialogues through which you can quickly define your motion application The Motion wizard automatically generates TML source code TML instructions based on your inputs IPM Motion Studio is a complete development platform Embedded code development tools allow you to further edit or directly compile link and generate executable code to be downloaded to the drive Finally advanced graphics tools like data logger control panel and view watch of TML parameters registers and memory can be used to analyze the behavior of the motion system 1 8 Memory Map The MotionChip II works with 2 separate address spaces one for TML programs and the other for data memory Each space accommodates a total of 64K 16 bit word The first 16K of the TML program space 0 to 3FFFh are reserved and can t be used The next 16K from 4000h to 7FFFh are mapped to a serial SPI connected EEROM with the maximum size 32K bytes seen as 16K 16 bit words This space can be used to store TML programs cam tables or other user data in a non volatile memory The recommended way to organize the EEPROM memory space is e TML program at the beginning of the EEPROM memory s
301. ts TSPD Target speed fixed speed reference computed by the reference generator at each slow loop sampling period when electronic camming slave modes are performed Measured in speed units TACC Target acceleration fixed acceleration deceleration reference computed by the reference generator at each slow loop sampling period when electronic camming slave modes are performed Measured in acceleration units APOS Actual position long motor position measured in position units ASPD Actual speed fixed motor speed measured in speed units Related TML Instructions SGM Set electronic camming master mode RGM Reset electronic camming master mode INITCAM LoadAddress RunAddress Copy cam table from E ROM starting with LoadAddress into SRAM starting at RunAddress EXTREF 0 Receive master position via a communication channel EXTREF 2 Read master position from second encoder input MODE CSx Set electronic camming slave mode x x 3 2 1 0 TUM1 Generate new trajectory starting from the actual values of position and speed reference i e don t update the reference values with motor position and speed TUMO Generate new trajectory starting from the actual values of motor position and speed i e update the reference values with motor position and speed UPD Update motion mode and parameters Start motion STOPO STOP1 STOP2 or STOP3 Stop motion using methods 0 to 3 Programming Example On slave axis Axis ID 1 INIT
302. uction After instruction Var1 0x1256 PROD 0x00014FC6E000 Var2 0x00014FC6 After instruction Var2 0x1256 Var3 0x125 PROD 0x000000014FC6 Var4 0x00014FC6 After instruction Var1 0x1256 PROD x Var2 X Example3 int Var2 Var3 long Var4 Var Var3 gt gt 4 Var4 PROD Before instruction Var2 0x1256 Var3 0x125 PROD x Far4 x Example4 int Var2 Var3 long Var Var2 Var3 lt lt 8 Var7 PROD H Before instruction Var2 0x1256 Var3 0x125 PROD x Var7 x Example5 long Varl Var2 veri 0x12 5 Var2 PROD Before instruction Var1 0x001256AB PROD x Var2 x Technosoft 2006 174 Var2 0x1256 Var3 0x125 PROD 0x000014FC6E00 Var7 0x000014FC After instruction Var1 0x1256 PROD 0x000014FD31B7 Var2 0x14FD31B7 MotionChip Il TML Programming Example6 long Varl Var2 Vari 0X125 lt lt I2 Var2 PROD H Before instruction After instruction Var1 0x001256AB PROD X Var2 x Example7 long Var2 Var9 int Var3 Var2 Var3 gt gt 4 Var9 PROD H Before instruction Var2 0x001256AB Var3 0x125 PROD X Var9 x Example8 long Var2 Var9 int Var3 Var2 Var3 lt lt 8 Var9 PROD Before instruction Var2 0x001256AB Var3 0x125 PROD X Var9 X Technosoft
303. ue32 32 bit long immediate value Type TML program On line X X Binary code APU value32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 LOWORD value32 HIWORD value32 APU VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 1 1 0 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 1 0 0 amp VAR32 Description Program the detection of the event when the motor position is smaller than the specified value An update on event command UPD must be used in these cases in order to activate an update operation when the monitored event occurs Execution Activate the setting of an event when motor position lt value32 or VAR32 respectively The bits 15 and 14 of the TML motion status register MSR are reset This operation erases a previous programmed event that has occurred Example CACC 1 5 Acceleration command for speed profile counts sampling CSPD 20 Speed command counts sampling MODE SP1 Set Speed Profile Mode 1 UPD Update immediate CSPD 40 New speed command counts sampling APU 60000 Set event when absolute position lt 60000 counts UPD Update on event Technosoft 2006 112 MotionChip Il TML Programming Name IAT Set event when absolute time is greater than a given value Event group
304. uested value Technosoft 2006 165 MotionChip Il TML Programming Name Send a TML instruction to another axis Communication amp Multiple axis group Syntax Axis Group TML Instruction Operands Axis Group ID the ID of the destination axis or group TML Instruction any of the single axis TML instruction codes to be send to the destination axis group Type TML program On line X X Binary code 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 1 0 1 0 length ML 1 0 0 0 A G Axis Group 0 0 0 0 TML instruction word 1 operation code TML instruction word 2 data TML instruction word length ML data Description This multiple axis operation allows one to send TML commands from one axis to another one When this code is encountered the TML instruction included in it is sent to the destination axis and will be executed as an on line TML command received by that axis Execution TML instruction communication channel Axis Group Send the TML Instruction through the multiple axis communication channel Example G8 STOP3 Send to all axes that belong to group 8 the command Ilto execute a motion stop of type 3 Technosoft 2006 166 MotionChip Il TML Programming Name Set inverse value for TML variables Assignment group Syntax VAR16D VAR16S set VAR16D to VAR16S value VAR32D VAR32S set VAR
305. uration value in test mode 129 MotionChip Il TML Programming RINCTST 194 UPD CACC 0 05 CSPD 20 CPOS 80000 CPA MODE PP3 RU 15000 UPD Technosoft 2006 Reference increment value in test mode Update immediate Acceleration command for position profile counts sampling Speed command for position profile counts sampling Position command counts Position command is Absolute Set Position Profile Mode 3 Set event if Reference lt 15000 bits voltage reference Update on event 130 MotionChip Il TML Programming Name ISO Set event when speed is over a given value Event group Syntax ISO value32 if SpeedOver value32 ISO VAR32 if SpeedOver VAR32 Operands VAR32 fixed variable value32 32 bit fixed immediate value Type TML program On line X X Binary code ISO value32 15 14 13 12 11 10 9 8 7 6 5 4 3 1 0 0 1 1 1 0 0 0 0 1 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 1 0 LOWORD value32 HIWORD value32 ISO VAR32 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 1 1 0 0 0 1 1 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 1 0 1 1 0 0 amp VAR32 Description Program the detection of the event when the motor speed is bigger than the specified value An update on event command UPD must be used in these cases in order to activate an u
306. user var with 0x81A the address of the master Il resolution parameter user_var dm resolution value write resolution value in data memory dm at II address pointed by user_var i e in the master resolution Remark The master resolution is a 32 bit long integer value If master position is not cyclic i e the resolution is equal with the whole 32 bit range of position set master resolution to 0x80000001 When this value is used no modulo operation is performed on the position counted from the 2 encoder inputs 4 Enable synchronization with the master if the master position is provided via communication When the synchronization is enabled the slave performs a slight adjustment of the moments when the speed position loop control is performed to synchronize them with the moments when the master sends its position This allows the slaves to always have a new master position before starting to use it In order to Enable the synchronization with the master set TML variable EFLEVEL 0 Disable the synchronization with the master set TML variable EFLEVEL OxFFFF Remark The synchronization must be enabled only after the master starts sending its position and must be disabled before or immediately after the master stops sending its position Do not leave a slave with the synchronization enabled while the master is disabled During this period the motor control performance is slightly degraded
307. value fixed Negative values means opposite direction Denominator of gear ratio uint Numerator of gear ratio int Negative values means opposite direction Master resolution used by slave s long Set at extended address 0x81A Can be read written using indirect addressing commands Measured in master position units Master position computed from 2 encoder inputs on slave axes long Set at extended address 0x81C Can be read written using indirect addressing commands Measured in master position units Master speed computed from 2 encoder inputs on slave axes long Set at extended address 0x820 Can be read written using indirect addressing commands Measured in master speed units Set to 0 enables and set to OxFFFF disables the synchronization of the slave s with the master when master position is sent via communication int Related TML Variables TPOS Technosoft 2006 Target position long position reference computed by the reference generator at each slow loop position speed loop sampling period when 38 MotionChip Il TML Programming electronic gearing slave modes are performed Measured in position units TSPD Target speed fixed speed reference computed by the reference generator at each slow loop sampling period when electronic gearing slave modes are performed Measured in speed units TACC Target acceleration fixed acceleration deceleration reference computed by the reference generator at
308. values of motor position and speed i e update the reference values with motor position and speed Update motion mode and parameters Start motion STOPO STOP1 STOP2 or STOP3 Stop motion using methods 0 to 3 Programming Example CACC CSPD 1 MODE SP1 UPD command acceleration 1 0 counts sampling 25 5 command speed 25 5 counts sampling negative command speed negative direction set speed profile mode 1 update start the motion 2 1 3 Position Speed Torque Voltage Contouring Modes In contouring mode you can program an arbitrary profile whose contour is described by a succession of linear segments Depending on the reference type four options are available Position contouring the motor is controlled in position The arbitrary profile represents a position reference Speed contouring the motor is controlled in speed The arbitrary profile represents a speed reference Torque contouring the motor is controlled in torque The arbitrary profile represents a current reference Voltage contouring the motor is controlled in voltage The arbitrary profile represents a voltage reference Technosoft 2006 26 MotionChip Il TML Programming The position contouring and the speed contouring have been foreseen for normal operation You may use them together with the position profile and the speed profile to generate the desired position or speed trajectory You can switch betw
309. variable external source 16 bit value from another axis TypeMem DM 01 PM 00 SPI 10 Example1 int VarLoc VarExt VarLoc 15 VarExt Before instruction After instruction VarLoc on local axis X VarLoc on local axis 0x1234 VarExt on axis 15 0x1234 VarExt on axis 15 0x1234 Example2 int VarLoc VarExt VarLoc 15 VarExt dm Before instruction After instruction VarLoc on local axis X VarLoc on local axis 0x1234 VarExt on axis 15 0x1234 VarExt on axis 15 0x1234 Example3 int VarLoc pVarExt vartoo 15 pVarExt dm Before instruction After instruction pVarExt on axis 15 0x1234 pVarExt on axis 15 0x1234 At dm address 0x1234 OxFEDC At dm address 0x1234 OxFEDC on axis 15 on axis 15 VarLoc on local axis x VarLoc on local axis OxFEDC Example4 Technosoft 2006 153 MotionChip Il TML Programming int VarLoc pVarExt VarLoc 15 pVarExt dm Before instruction After instruction pVarExt on axis 15 0x1234 pVarExt on axis 15 0x1235 At dm address 0x1234 OxFEDC At dm address 0x1234 OxFEDD on axis 15 on axis 15 VarLoc on local axis X VarLoc on local axis OxFEDC Technosoft 2006 154 MotionChip Il TML Programming Name Assignment instruction for a 32 bits TML local variable with data from another axis multiple axis instruction get data from another axis Multiple axis group Syntax VAR32D Axis VAR32S local VAR32D A VAR32S VAR32D Axis
310. vent is programmed There are 18 events which can be programmed one at a time for monitoring Table 2 11 presents them Table 2 11 Programmable Event Triggers Mnemonic Event Description When the actual motion is completed value32 When the actual motor absolute position is equal or under a var32 32 bit long value or the value of a long variable value32 When the actual motor absolute position is equal or over a 32 var32 bit long value or the value of a long variable value32 When the actual motor relative position is equal or under a 32 var32 bit long value or the value of a long variable value32 When the actual motor relative position is equal or over a 32 var32 bit long value or the value of a long variable value32 When the actual motor speed is equal or under a 32 bit fixed var32 value or the value of a fixed variable value32 When the actual motor speed is equal or over a 32 bit fixed var32 value or the value of a fixed variable After a wait time measured from the event setting equal with a 32 bit long value or the value of a long variable The time unit is the slow loop sampling period value32 When absolute time is equal with a 32 bit long value or the value var32 of a long variable The time unit is the slow loop sampling period value32 When position or speed or torque or voltage target reference is var32 equal or under a 32 bit value or the value of a long fixed variable value32 When position or speed or torque or voltag
311. will indicate the end of a TML program sequence After the execution of this instruction the TML kernel will enter in a wait loop and no other TML instruction is executed this stops the execution of the motion program resident in the drive memory A RESET a TML interrupt or an on line GOTO or CALL instructions are needed to change this status and to start the execution of another TML program sequence Please note that after the execution of the END instruction the control PWM outputs and real time section of the system continue to operate as before the execution of this instruction Use commands as AXISOFF in order to stop the controllers and to de activate the PWM outputs 1 It is mandatory to end the motion program main routine with an END command All the TML subroutines and interrupt service routines should be added after the END command 2 If you intend to change the program of a drive set for stand alone operation e g which starts to execute automatically after reset the TML program from the E2ROM memory you should do the following a Send to the drive the command END to stop the current program execution In order to disable the power stage send also an AXISOFF command b Compile the new program c Download the new program d Reset the drive The new program will start to execute End a TML program Technosoft 2006 208 MotionChip Il TML Programming
312. xample10 int pVarl Technosoft 2006 140 MotionChip Il TML Programming After instruction Var3 0x56ABCD98 Var1 0x56AB After instruction Var 3321 After instruction Var1 Ox0A01 Var2 Ox0A01 After instruction pVar2 Ox0A01 Data memory Ox0A01 0x1234 Var1 0x1234 After instruction pVar2 Ox0A02 Data memory Ox0A01 0x1234 Var1 0x1234 MotionChip Il TML Programming pVarl spi 0x5422 Before instruction pVar1 0x5100 SPI memory 0x5100 x Example11 int pVarl pVar1 spi 0x5422 Before instruction pVar1 0x5100 SPI data memory 0x5100 x Example12 int pVarl Var2 pae pm Var2 Before instruction pVar1 0x8200 Var2 0xA987 program memory 0x8200 x Example13 int pVarl Var2 pvarl pm Var2 Before instruction pVar1 0x8200 Var2 0xA987 program memory 0x8200 x Example14 long Var5 Vars H OxAA55 Before instruction Var5 0x12344321 Example15 long Vars Technosoft 2006 141 After instruction pVar1 0x5100 SPI memory 0x5100 0x5422 After instruction pVar1 Ox5101 SPI data memory 0x5100 0x5422 After instruction pVar1 0x8200 Var2 OxA987 program memory 0x8200 0xA987 After instruction pVar1 0x8201 Var2 OxA987 program memory 0x8200 0xA987 After instruction Var5 0xAA554321

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