Technosoft drives enable the user to create machineries with multiple axis, without needing an external master to control them. Using EasyMotion Studio II, the user can create complex motion programs, which can perform difficult tasks.

1. Internal trajectory generation

The drive does not merely follow a stream of position points sent by a master. Instead, it uses its internal reference generator to compute the trajectory in real-time based on high-level commands.

It supports various modes including Trapezoidal Profiles (position or speed), S-Curve Profiles (to limit the shock), and advanced interpolation like PVT (Position-Velocity-Time) and PT (Position-Time).

PVT Interpolation is particularly powerful for complex contours and “on the fly” changes of the trajectory. Instead of sending thousands of points which would increase the communication burden, the master sends sparse “PVT points” (Position, Velocity, Time). The drive’s internal 3rd-order interpolator connects these points to create a smooth trajectory, freeing-up communication bandwidth for other tasks.

2. Logic and sequence execution (TML – Technosoft Motion Language)

The drive acts as a local PLC thanks to Technosoft Motion Language. TML programs are stored in the drive’s non-volatile memory (EEPROM) and executed locally.

• Decision making: The drive can execute conditional jumps (GOTO) and function calls (CALL) based on the status of variables, inputs or internal states.
• Arithmetic and logic: It can perform mathematical operations (addition, subtraction, multiplication, shifting) and logical bitwise operations on 16-bit or 32-bit variables. This allows for complex internal calculations, such as adjusting speed based on sensor data (e.g., Speed = Speed * 0.5).
• Event handling: The WAIT! command along with basic math operations allows the drive to pause the execution of the program until specific complex conditions are met (e.g., “Wait until position > X AND input 1 is high”), effectively functioning as a localized state machine.

3. Electronic gearing

In this mode, the slave drive synchronizes its position with the master drive using a programmable gear ratio.

The slave can receive the master’s position in two ways:

• Via communication: The master sends its position (actual load position or reference position) periodically over the CAN bus.

• External input: The slave reads pulses directly from an external encoder or a Pulse & Direction source connected to its secondary encoder input.

4. Electronic camming

This feature replaces mechanical cams. The slave drive follows a non-linear profile (cam profile) based on the master’s position with the added benefit that the cam can be changed very easy and it never wears out.

• Cam tables: The relationship between master position (input) and slave position (output) is defined in a cam table stored in the drive’s EEPROM. These tables define a set of (X, Y) points.
• Interpolation: The drive performs linear interpolation between the defined points in the Cam Table to ensure smooth motion.
• Absolute or Relative: Camming can operate in absolute mode (slave goes to a specific position based on the table) or relative mode (table output is treated as a position increment).

5. Intertwined programming with multi-axis coordination

Distributed intelligence reaches its full potential when drives not only run their own programs but actively interact with one another. In a Technosoft CAN network, TML programs can be “intertwined,” meaning the logic flow is not confined to a single drive but can span across the entire network.

This capability allows for a decentralized control system where drives communicate peer-to-peer without routing everything through a central master.

• Cross-axis command execution: A TML program running on drive A can directly issue commands to drive B. By specifying the destination Axis ID, a drive can start a motion profile, stop a motor, or change parameters on any other drive in the network.
• Remote function calls: To keep programs modular, complex routines can be stored as TML Functions on specific drives. Any other drive / master on the network can trigger the execution of these functions.
• Shared memory and data exchange: Drives can read and write variables across the network. This allows for complex conditional logic based on the status of other axes.
• Group Synchronization (Multicast): For applications requiring tightly coupled motion (e.g., a gantry system), drives can be assigned to Group IDs. A single command sent to a “Group” is received and executed by all member drives simultaneously. This ensures that multiple axes start their motion with little to no difference, maintaining correct mechanical alignment.
• Synchronization: Allows a master drive to send periodic time synchronization messages, ensuring that the internal clocks of all slave drives remain aligned, which is critical for coordinated multi-axis motion.

Conclusion: The power of distributed intelligence

The “Distributed Intelligence” feature in Technosoft drives represents a key advantage. By embedding a powerful motion controller and our own Technosoft Motion Language directly into the servo drive, the system offers significant advantages for OEM machine builders:

• Elimination of external controllers: Since the drives can handle internal trajectory generation, complex logic, and multi-axis coordination, the need for a dedicated external motion controller or PLC is often removed.
• Simplified wiring & architecture: The daisy-chain capability (CAN/EtherCAT) combined with local I/O processing drastically reduces the cabling complexity compared to traditional analog or pulse-and-direction systems.
• Real-time performance: Decisions are made locally at the drive level (e.g., safety stops, sensor-triggered speed changes), reducing the latency in sending data back and forth.

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