Electronic Gearing - Related TML Instructions and Data

Electronic Gearing – Related TML Instructions and Data

Parameters

CACC Maximum acceleration in slave mode when UPGRADE.2=1

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.

GEAR	Slave(s) gear ratio value. Negative values means opposite direction compared with the master

GEARMASTER Denominator of gear ratio

GEARSLAVE

Numerator of gear ratio. Negative values means opposite direction compared with the master

MASTERRES Master resolution used by slave(s) Measured in master position units

MPOS0

Initialization parameter. Must be set by the master with a non-zero value before enabling the master mode, if the slaves are already set in electronic gearing.

OSR	TML register. When OSR.15=1, the master sends the position reference. When OSR.15=0, the master sends the actual load position

UPGRADE

TML register. When UPGRADE.2=1, an acceleration limitation may be set on slave. When UPGRADE.2=0, the acceleration limitation is disabled

ACR	Auxiliary Control Register – includes several TML programming options. When ACR.2 = 0, the external reference is quadrature encoder. When ACR.2 = 1, the external reference is pulse & direction

Variables

MREF	Master position received or computed by the slave(s). Measured in master position units

MSPD	Master speed computed by the slaves. Measured in master speed units

APOS2

Master position computed by the slaves from pulse & direction or quadrature encoder inputs. At power-on it is set to 0. May be set to a different value, before starting the master. Measured in master position units

TPOS	Target position – position reference computed by the reference generator at each slow loop sampling period. Measured in position units

TSPD	Target speed – speed reference computed by the reference generator at each slow loop sampling period. Measured in speed units

TACC	Target acceleration – acceleration/deceleration reference computed by the reference generator at each slow loop sampling period. Measured in acceleration 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

Instructions

EXTREF 0 Get master position via a communication channel

EXTREF 2 Compute master position from pulse & direction or quadrature encoder signals

MODE GS Set electronic gear slave mode

SGM Set electronic gear master mode

RGM Reset electronic gear master mode

REG_ON Enable superposed mode

REG_OFF Disable superposed mode

SETSYNC value Send synchronization messages at the time interval indicated by the 16-bit value. Measured in time units

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

SRB Set/reset bits from a TML data

Remarks:

•	Do not change GEAR, GEARSLAVE and GEARMASTER during slave operation

•	CACC must be positive

•

In order to activate the TUM1 mode, execute the TML instruction TUM1 AFTER the MODE GS command and BEFORE the UPD command. When MODE GS 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

//Electronic gearing. Master position is received via //communication channel inputs.

//Master resolution: 2000 counts/rev

// On slave axis (Axis ID = 1):

GEAR = 0.3333; // gear ratio

GEARMASTER = 3; //gear ratio denominator

GEARSLAVE = 1; //gear ratio numerator

EXTREF 0; // master position got via communication channel

MASTERRES = 2000; // master resolution

REG_ON; //Enable superposition

MODE GS; //Set as slave, position mode

TUM1; //Set Target Update Mode 1

SRB UPGRADE, 0xFFFF, 0x0004; //UPGRADE.2 = 1

CACC = 0.9549; //Limit maximum acceleration at 3000[rad/s^2]

UPD; //execute immediate

// On master axis:

SLAVEID = 1;

SGM; //Enable Master in Electronic Gearing mode

SRB OSR, 0xFFFF, 0x8000; // OSR.15=1 -> Send Position Reference

[1]MPOS0 = TPOS;

UPD; //execute immediate

SETSYNC 20; //Send synchronization messages every 20[ms]