Contouring - TML Instructions and Data

Motion Contouring – TML Instructions and Data

Parameters

REF0(H) Starting value for torque or voltage contouring. Measured in current units or voltage command units

Variables

TPOS Target load position – position reference computed by the reference generator at

each slow loop sampling period in position or speed contouring. In speed contouring, TPOS is computed by integrating the target speed TSPD.Measured in position units

TSPD Target load speed – speed reference computed by the reference generator at

each slow loop sampling period in position or speed contouring. Measured in speed units

TACC Target load acceleration – acceleration/deceleration reference computed by the

reference generator at each slow loop sampling period in position and speed contouring. Measured in

acceleration units

IQREF

Current reference – computed by the reference generator at each slow loop sampling period in torque contouring. Measured in current units

UQREF

Voltage reference – computed by the reference generator at each slow loop sampling period in voltage contouring. Measured in voltage command units

APOS_LD Actual load position. Measured in position units. Alternate name: APOS.

ASPD_LD Actual load speed – measured in speed units

APOS_MT Actual motor position. Measured in motor position units.

ASPD_MT Actual motor speed. Measured in motor speed units. Alternate name: ASPD

IQ Motor current. Measured in current units

Instructions

MODE PC Set position contouring mode

MODE SC Set speed contouring mode

MODE TC Set torque contouring mode

MODE VC

Set voltage contouring.

SEG Time, Increment

Set a contour segment where:

Time – is the segment time. It is an unsigned integer measured in time units

Increment – is the segment reference increment per time unit. It is 32-bit fixed value measured in:

▪	speed units for position contouring

▪	acceleration units for speed contouring

▪	current units / time units for torque contouring

▪	voltage units / time units for voltage contouring

TUM1 Target Update Mode 1 (TUM1). Generates new trajectory starting from the actual values of position and speed reference (i.e. don’t update the reference values with load/motor position and speed)

TUM0 Target Update Mode 0 (TUM0). Generates new trajectory starting from the actual values of load/motor position and speed (i.e. updates the reference values with

load/motor position and speed)

UPD Update motion parameters and start new motion mode

STOP Stop the motion.

Remarks:

•

In order to activate the TUM1 mode, execute the TML instruction TUM1 AFTER setting one of the contouring modes and BEFORE the UPD command. When the TML command setting a contouring mode is executed, it automatically sets TUM0 mode. However, as the new motion mode becomes effective only after the UPD command, a TUM1 command will overwrite the TUM0 mode

•	Under TUM0 mode, at the UPD command TPOS=APOS_LD and TSPD=ASPD_LD. In open loop control of steppers, TUM0 is ignored as there is no position and/or speed feedback

•	In setup configurations where there is no transmission ratio between the motor and the load, it is supposed that these are directly connected. In these cases: APOS_MT=APOS_LD and ASPD_MT=ASPD_LD

Programming Example

// Position contouring with position feedback on motor: 500 lines

// incremental encoder (2000 counts/rev)

MODE PC;//Set Position Contouring

TUM1;//Start from actual value of position reference

SEG 100U, 20.00000;// 1st point

UPD; //Execute immediate

SEG 100U, 0.00000; // 2nd point

SEG 0, 0.0; //End of contouring