Most Technosoft drives have 3 special inputs: Limit Switch Positive (LSP), Limit Switch Negative (LSN) and ENABLE *. LSP / LSN inputs prevent movements outside of the working area that is defined by the limit switches. The motor will be stopped if it's moving positive and the LSP input becomes active or when it's moving negative and the LSN [...]
The default functionality associated to ENABLE input is to disable the power stage of the drive when it goes in the disabled state. The default functionality is disabled, i.e. the ENABLE input becomes a general purpose input if the following TML instruction is executed by the drive: ENABLE_OFF = 1; The default functionality of the [...]
The values of the user variables are not saved in the EEPROM when the drive is reset or powered OFF. If this necessity occurs then the user can implement this functionality in a TML application. The applicaiton will contain the declaration of the variables and 2 functions - one for saving the variables and the other for restore the variables. After [...]
TML functions are code sequences stored in the TML program of a drive. They are associated to a name (which is the name of the label corresponding to the function) and an address (the start address of the function, i.e. the address of the label where the function starts). When a function is called from within the TML program [...]
Technosoft drives can handle different types of external reference signals: analog, pulse & direction or quadrature encoder. The following steps describe how to configure a Technosoft drive to read the Pulse & Direction inputs as the external source for the position reference: Create a new project/setup based on your drive, motor and feedback type. If you [...]
The correct execution of an S-curve profile requires that the movement time fits inside a long variable. This conditions is verified by EasyMotion Studio when the "S-curve Profiles" dialogue is closed. Based on the values set in the "S-curve Profiles" dialogue, EasyMotion Studio computes the TJERK, T2 and T4 parameters and checks if (2xTJERK+T2+T4)x(TJERK+T2)xTJERK < 2^(32-1). If the condition is met, the motion profile is considered valid and the TML code [...]
In order to stop the unrequested messages sent by the drive to the host when in PVT mode, the user need to set the PVTSENDOFF variable to 1. Add the line "PVTSENDOFF = 1;" at the beginning of his program and the drive will no longer send the PVTSTS to the host.
A PVT/PT profile generated with a external tool can be import in a TML program through a text file using the "Import from File" option in the Motion - PVT or Motion - PT dialog. The data in the file must be organized as follows: 3 columns separated by space or tabs representing from left [...]
The drive sends the PVT status to the host when: - the PVT buffer is full, low or empty; - some PVT points are "missing" - for example, in case the host sends 4 points but the 3rd point was not received by the drive. Remark: In case of buffer empty condition, the drive enter QUICKSTOP [...]
Since Technosoft have only digital drives, the lowest value of the internal units for the controllers is 1 [count/sampling]. Now let's take a look on the speed scaling factor : speed[rpm] = [60 / (4 x Nr_enc_lines x Ts_s[s])] x speed[counts/sampling], where Ts_s is the slow loop period. For example if we take an encoder of 2000 lines and a default sampling loop [...]
