The PVT buffer is stored in the RAM memory of the drive. Apart from storing the PVT points, the RAM memory contains also the data acquired with the Logger and the CAM tables. The amount of memory available and the addresses of various memory sections depend on the drive and can be visualized in Memory [...]
The iMOT intelligent motors use a magnetic encoder that outputs quadrature signals but additionally, it can also output the motor absolute position, on one mechanical turn. The absolute position is saved in the controller RAM memory, at the address 0x222 and goes from 0 to 4096. To read it, the following TML code sequence can [...]
TML (short from Technosoft Motion Language) is a high-level motion programming language built for Technosoft intelligent drives and motors. It allows building complex motion applications locally, on each drive, leaving only the high level of motion application on the master device (EtherCAT / CANopen / custom made). The TML instruction code consists of 1 to [...]
The drive supply voltage can be read through the AD4 parameter (uint@0x240) and the drive temperature through the AD7 parameter (uint@0x243). The returned values are expressed in IU (drive internal units). To convert them to volts and respective to degrees Celsius, the following scaling factors needs to be applied. 1. Drive Supply Voltage Voltage_measured [V] = (VdcMaxMeasurable/65520) * Voltage_measured [IU] Where VdcMaxMeasurable is [...]
The hexadecimal value of a negative decimal number can be obtained starting from the binary value of that decimal number positive value. The binary value needs to be negated and then, to add 1. The result (converted to hex) represents the hex value of the respective negative decimal number. The example below shows how to [...]
In TML, the fractional numbers (usually stored in 32 bits fixed variables) are represented (in hex) using the "16.16" format. According to this format, to get the hex value of a fractional number, the first step is to multiply the fractional number with 65536. The result will be rounded or truncated and cast to a [...]
A Technosoft drive can be restored to the factory settings by deactivating the Setup Table and the TML Program stored inside its memory. This operations can be performed through the Command Interpreter window in EasyMotion Studio or Easy SetUp. The Command Interpreter window can be open from the View menu or from the EasyMotion Studio / Easy SetUp graphical menu bar. The Setup Table can be deactivate by writing 0x0001 in the [...]
The "motor current" is the amplitude of the motor phase currents while the "phase current" represents the current measured on each of the motor phases. The picture below shows the motor current and the phase currents in case of a brushless motor, driven in sinusoidal mode. With red line is the current on the A [...]
The Logger is an evaluation tool, included in the EasyMotion Studio / Easy SetUp software, that starts automatically, when the "Run" button is pressed or when the "Start Logger" button is manually pressed. Sometimes these two starting modes are not enough because the Logger needs to be started at a specific point in the program [...]
Technosoft drives are able to exchange data among them. This feature, used in a TML program executed locally on one of the drives, allows the user to build a state machine — and thus eliminate the need for an external host. The variables used for data transfer must be declared on all the axes, in the same [...]
