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TML_LIB_LabVIEW User Manual

1. 175 Example 27 Jogging motion until the index capture is detected then position on index 177 Example 28 Speed jogging until home found position to home and set position to 179 Example 29 Download a COFF format file amp send a positioning command on line 181 Technosoft 2007 X TML LIB LabVIEW User Manual 4 30 Example 30 Download a COFF format file then call TML functions 183 4 31 Example 31 Set up the Master and Slave Gearing Mode use the drives in gearing mode 185 4 32 Example 32 Set up Master and Slave in electronic cam Mode use the drives in cam mode 187 4 33 Example 33 Usage of data logger to upload real time stored data from the drive 189 4 34 2 34 Homing procedures based on pre stored TML sequences on the drive 4 35 Example 35 Positioning with S Curve profile for speed speed jogging 194 4 36 Example 36 Reset FAULT state 196 4 37 Example 37 Read multiple inputs set multiple outputs 198 4 38 Example 38 Positioning when an event home input occurs 200 4 39 Example 39 Write read in the drive memory 202 4 40 Example 40 View binary code of a TML 204 4 41 Example 41 Speed jog and positioning with direction 205 Technosoft 2007 XI TML
2. 36 3 4 1 18 TS SetGearingSlave vi iii 37 3 4 1 19 TS SetCammingMaster vi ener enne 39 3 4 1 20 TS 5 40 Technosoft 2007 VII TML LIB LabVIEW User Manual 3 4 1 21 TS SetCammingSlaveAbsolute vi 42 93 41 22 TS GambDownloadVi ioc Beds 44 3 4 1 23 TS Caminitialization vi nnns 46 3 4 1 24 TS SetMasterResolution 47 3 4 1 25 TS SendSynchronization enne 48 3 4 2 Motor commands ees oegi eee en te decere ede dna e hne du dn de bna e dn ne 49 3 4 2 1 TS 3POWOLVISA otia etim rr tar ese 49 3 4 2 2 TS_Updatelmmediate vi esee 50 3 4 2 3 TS_UpdateOnEvent vi iii 51 3 4 2 4 TS SIODIME IS SR e UN ten rere 52 3 4 2 5 MS uAg 53 3 4 2 6 TS SetTargetPositionToActual vi 54 3 4 2 7 TS 3SelGUurTerntVl 55 3 4 2 8 TS_QuickStopDecelerationRate vi 56 3 4 3 Events ne 57 3 4 3 1 TS CHECKEVENtMl 2 ee aati ea eee 57 3 4 3 2 TS_SetEventOnMo
3. Input Variable Name TML variable where the inputs status is saved on the drive Output Pointer to variable where the value of Variable Name is stored TRUE if no error FALSE if error Description The function reads simultaneously the status of more inputs and save their status in TML variable Variable Name on the drive motor The value of Variable Name is then uploaded and stored in the Status variable For drives motors programmed with firmware version FAxx the digital inputs read are Enable input saved in bit 15 of pszVarName Limit switch input for negative direction LSN saved in bit 14 of pszVarName Limit switch input for positive direction LSP saved in bit 13 of pszVarName General purpose inputs 39 38 37 and 36 saved in bits 3 2 1 and O of pszVarName If the drive motor is programmed with firmware version FBxx then the function reads all the input lines available of the drive motor The digital inputs are numbered from 0 to 15 The input s number represents also the position of the corresponding bit from the pszVarName i e input number x has associated bit x from the pszVarName The bits corresponding to these inputs are set as follows 0 if the input is low and 1 if the input is high The other bits of the variable are set to 0 Remark If one of these inputs is inverted inside the drive motor the corresponding bit from the variable is inverted too Hence these bits always show the inpu
4. File Edit Operate Tools Browse Window Help Drive gt m 13pt Application Font 112 1 a IEJ status 15 Fault 115 Axis ON 15 Enable input is active m In Cam 0 Event set has occured 1 Command 0 12 In Gear 0 110 Motion is completed 1 13 Under voltage 0 Im 2t warning Drive 0 8 Homing CALLS active 0 12 Over voltage 0 10 121 warning Motor 0 7 Homing CALLS warning 0 11 Over temp Drive 0 9 Target reached 1 Registers Legend 1 10 Over temp Motor 0 8 Capture event interrupt 0 9 pt 0 7 LSN event interrupt 8 Over current 0 IMPORTANT Check SRH O 6 LSP event interrupt jo Supply voltage and some status 7 LSN limit active 0 5 Autorun enabled 1 oF error bits are set ONLY after 6 LSP limit active 0 ENDINIT is executed 4 Over position trigger 4 1 5 HALL sensor missing 0 f E 2 1 If SRH 0 0 and you use 3 Over position trigger 3 1 EasySetup download a setup 4 Serial cpmm error 0 RS reset the drive and press the 2 Over position trigger 2 1 neraby button to send ENDINIT 3 Control error 0 1 Over position trigger 1 1 command 2 Invalid setup data 0 0 ENDINIT executed 1 If you are using 1 Short circuit 0 EasyMotion Studio run TML 0 CANbus error 0 program This includes execution Supply Volt
5. Technosoft 2007 85 TML LIB LabVIEW User Manual 3 4 5 8 TS SetMultipleOutputs2 vi Symbol SelectedPorts muk pk R Status Prototype BOOL TML EXPORT TS SetMultipleOutputs2 CSTR Variable Name SHORT INT Status Parameters Name Description Mask for selecting the outputs controlled Each bit of the SelectedPorts Input parameter represents an output port Status Parameter containing the outputs status to be set Output TRUE if no error FALSE if error Description The function sets simultaneous the digital outputs of the drive motor selected with the SelectedPorts mask using the value of the Status parameter Remark The function is designed for drives motors programmed with firmware version FBxx For drives motors programmed with firmware version FAxx use the TS SetMultipleOutputs function The digital outputs are numbered from 0 to 15 and they form an ordered list for example a product with 3 outputs will have 0 1 and 2 The input s number represents also the position of the corresponding bit from the SelectedPorts mask i e input number x has associated bit x from the SelectedPorts The outputs are set as follows low if the corresponding bit from the SelectedPorts is 1 and the corresponding bit from Status variable is 0 e high if it s the corresponding bit from SelectedPorts is 1 and the corresponding bit from SelectedPorts is 1 Related functions TS Set
6. Return Variabl ariable Name Read Value Prototype LONG TS GetintVariable 8 CSTR Variable Name SHORT INT Read Value Parameters Name Description Input Variable Name Name of the TML parameter variable or used defined variable Read Value Pointer to the variable where the value is stored return TRUE if no error FALSE if error Output Description The function reads the value of TML data Variable Name The TML data parameter variable or user defined variable is of type integer 16 bit The value read is saved in the variable pointed by Read Value Remarks 1 The available TML data is configuration dependent and is listed in the variables cfg file 2 The user defined variables are set with EasyMotion Studio prior generating the setup information Related functions TS SetlntVariable vi TS SetLongVariable vi TS SetFixedVariable vi TS GetLongVariable vi 5 GetFixedVariable vi Associated examples Example 18 Example 20 Example 36 Example 38 Technosoft 2007 88 TML LIB LabVIEW User Manual 3 4 6 8 TS SetLongVariable vi Symbol i Set Variable Name MR BRUN Value Var Prototype LONG TS SetLongVariable 28 CSTR Variable Name LONG value Parameters Name 7 Description Variable Name Name of the parameter l Value The value to be written Output TRUE if no error FALSE if error Description The function writes the Value in the TML data Var
7. The electronic camming absolute mode may generate abrupt variations on the slave position reference mainly at entry in the camming mode Set parameter Limit Variation to limit the speed of the slave during travel towards the position to reach The limitation is disabled if the Limit Variation is set to zero The cam tables are previously stored in drive motor EEPROM memory with function TS CamDownload vi After download previously starting the camming slave you have to initialize the cam table i e to copy it from EEPROM memory to RAM memory Use function TS_Camlnitialization vi to initialize a cam table The active cam table is selected through Technosoft 2007 42 TML LIB LabVIEW User Manual parameter Run Address The Run Address must contain the drive motor RAM address where the cam table was copied The slave can get the master position in two ways 1 Via a communication channel Enable Slave SLAVE COMM from a drive motor set as master with function block TS_SetGearingMaster 2 Via an external digital reference of type pulse amp direction or quadrature encoder Enable Slave SLAVE 2ND ENCODER Remark 1 Set Enable Slave SLAVE_NONE if you want to program the motion mode parameters without enabling it 2 Use function block TS_SetCammingMaster vi to program a drive motor as master in electronic camming When the reference is read from second encoder or pulse amp direction inputs you don t need to prog
8. 3 4 8 8 TS ExecuteScript vi Symbol File Name Seipt 77 Return Prototype LONG TS ExecuteScript 4 CSTR File Name Parameters Name Description Input File Name The name of the file containing the TML source code to be p executed Output TRUE if no error FALSE if error Description The function executes TML commands entered in TML source code format as is entered in the Command Interpreter from a script file Use this function if you want to send a specific motion sequence directly written in TML language Define a data file File Name containing the source TML code you want to send to the drive and then call the TS_ExecuteScript vi function in order to compile the code and to send on line the associated TML object commands If a compile error occurs the function returns a FALSE otherwise it returns TRUE Related functions TS_Execute vi Associated examples Example 25 Technosoft 2007 99 TML LIB LabVIEW User Manual 3 4 8 4 TS GetOutputOfExecute vi Symbol Return Out String String Maximum Characters Prototype LONG TS GetOutputOfExecute 28 CSTR Output SHORT INT Max Chars Parameters Name Description String containing the TML source code generated at the last Input Output library function call Max Chars The maximum numbers of characters to return in the string Output TRUE if no error FALSE if error Description The function returns the TML output source code of the last
9. File Edit Operate Tools Browse Window Help Technosoft 2007 194 TML LIB LabVIEW User Manual Example 35 vi jse co 753 50 Jo Technosoft 2007 195 TML LIB LabVIEW User Manual 4 36 36 Reset FAULT state The example shows how to restore the drive normal operation from FAULT state The drive is programmed to do a relative positioning The drive enters in FAULT state when you block the motor shaft during the motion In the FAULT state e The drive motor is in AXISOFF with the control loops and the power stage deactivated e Ready and error outputs if present are set to the not ready level respectively to the error active level When available ready greed led is turned off and error red led is turned on The FAULT state is reset when you press a key the drive power stage remains disabled The VI front panel allows you to Run the example and block the motor shaft to trigger the Control error protection and the FAULT status IE Example 36 vi Diagram En jal x File Tools Browse Window Help x A oa ee Technosoft 2007 196 TML LIB LabVIEW User Manual Example 36 vi EM x 1200000 Technosoft 2007 197 TML_LIB_LabVIEW User Manual 4 37 37 Read multiple inputs set multiple outputs The example shows how to read multiple outputs from the drive The program remains in a loop until one of the inputs chan
10. SEIT FE C HNOS OFT Motion Control Library for Technosoft Intelligent Drives Technosoft 2007 TECHNOSOFT TML LIB LabVIEW v2 0 User Manual P091 040 LABVIEW v20 UM 0507 Technosoft S A Rue de Buchaux 38 CH 2022 BEVAIX Switzerland Tel 41 0 32 732 5500 Fax 41 0 32 732 5504 contact technosoftmotion com www technosoftmotion com Read This First Whilst Technosoft believes that the information and guidance given in this manual is correct all parties must rely upon their own skill and judgment when making use of it Technosoft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work whether such error or omission is the result of negligence or any other cause Any and all such liability is disclaimed All rights reserved No part or parts of this document may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information retrieval system without permission in writing from Technosoft S A About This Manual This book describes the motion library TML LIB LabVIEW v2 0 TML LIB LabVIEW is a collection of functions which can be integrated in a PC application developed in LabVIEW environment With TML LIB LabVIEW motion library you can quickly program the desired motion and control the Technosoft intelligent drives and motors with the drive integrated in the motor case from a PC The TML LI
11. 2 For more details about drive motor memory structure see the Memory Map topic from EasyMotion Studio help 3 During the execution of a local TML program on the drive any TML command sent on line from the PC is treated with higher priority and will be executed before executing the local TML code Related functions TS DownloadProgram vi TS CALL vi TS CALL Label vi TS CancelableCALL Label vi Associated examples Technosoft 2007 76 TML LIB LabVIEW User Manual 3 4 4 6 TS CancelableCALL Label vi Symbol ance sbi Function Name eur EE Boolean Prototype LONG TS CancelableCALL Label 4 CSTR Function Name Parameters Name Description Input Name of the TML function Output TRUE if no error FALSE if error Description The function commands the active axis to execute the TML function named Function Name Use this command if the exit from the called TML function depends on conditions that may not be reached In this case using function TS_Abort vi you can terminate the TML function execution and return to the next instruction after the call The TML functions can be stored in the drive motor EEPROM memory or in the TML program memory Prior using the TS_CancelableCALL_Label vi function you have to e Create atleast one TML function using EasyMotion Studio e Select in the Memory Setting dialogue from where you want to run the TML program TML program or EEPROM e Create the COFF file out with the
12. IncrTorque increment at each slow sampling period up to the MaxTorque value Remark This is a test mode to be used only in some special cases for drives setup The test mode is not supposed to be used during normal operation For AC motors like for example the brushless motors you have the possibility to rotate a current reference vector with a programmable speed As a result these motors can be moved in an open loop mode without using the position sensor The main advantage of this test mode is the possibility to conduct in a safe way a series of tests which can offer important information about the motor parameters drive status and the integrity of the its connections The current reference vector initial position is set through parameter ThetaO and its speed through Dtheta For DC motors set these parameters to zero The motion is executed e Immediately when Move Moment UPDATE_IMMEDIATE e When aprogrammed event occurs if Move Moment UPDATE_ON_EVENT e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of the movement Use the TS Updatelmmediate vi or the TS UpdateOnEvent vi functions in order to activate the movement Related functions TS VoltageTestMode vi Associated examples Example 23 Technosoft 2007 26 TML LIB LabVIEW User Manual 3 4 1 11 TS PVTSetup vi Symbol Clear Buffer Integrity Chec
13. LIB LabVIEW description 7 3 1 Basic CONCE Dt i ret 7 3 2 Internal units and scaling factors 8 9 3 AXIS IdentfiCatiOn sa Dco aita initie nas d OR 8 8 4 Functions descriptions sis 9 3 4 1 Motion 10 3 4 1 1 TS MoveAbsolute vi us 10 3 4 1 2 TS _MoveRelative vi 12 3 4 1 3 TS 5 2 14 3 4 1 4 TS MoveSOCurvehRelative vi ccccccccccccecsesssececeeeceesesseseceeecesceeseesaeseeeeseeessaaees 16 3 4 1 5 TS MovevVelocity vi 18 3 4 1 6 TS SetAnalogueMoveExternal vi eese 20 3 4 1 7 TS SetDigitalMoveExternal esses enne nene 22 3 4 1 8 TS SetOnlineMoveExternal vi ssssssssesessseseseeee nennen nnne nnns 23 3 4 1 9 5 enne 25 3 4 1 10 TS TorqueTestMode vi 26 342111 15 heen alienate 27 3 4 1 12 TS SendPVTFirstPoint vi ii 29 3 4 1 13 TS _SendPVTPoint vi iii 31 SALA MENS LIES AUDACES 32 3 4 1 15 TS SendPTFirstPoint vi iii 34 3 4 1 16 TS _ SendPTPoint vi iii 35 3 4 1 17 TS SetGearingMaster vi
14. User Manual 3 4 7 Drive motor monitoring 3 4 71 TS ReadStatus vi Symbol TML Register Prototype LONG TS ReadStatus 8 SHORT INT TML Register SHORT INT Status Parameters Name Description Input TML Register Registers selection Output Status Pointer of the variable where the status is saved return TRUE if no error FALSE if error Description The function returns drive motor status information Depending on the value of TML Register parameter you can examine the contents of the Motion Control Register TML Register REG Motion Status Register TML Register REG Interrupt Status Register TML Register REG ISR Status Register Low TML Register REG SRL Status Register High TML Register REG SRH or Motion Error Register TML Register REG MER of the drive motor Related functions Associated examples Technosoft 2007 95 TML LIB LabVIEW User Manual 3 4 7 2 TS OnlineChecksum vi Symbol Start Address End Address Return Checksum Prototype LONG TS OnlineChecksum 212 UNSIGNED SHORT INT Start Address SHORT INT End Address SHORT INT Checksum Parameters Name Description Input Start Address The memory range start address End Address The memory range end address Checksum Pointer to the variable where the checksum is stored Output return TRUE if no error FALSE if error Description The function requests from the
15. with event on torque reference This example activates the test torque mode on a drive A variable current vector is generated on motor phases with prescribed increment and maximum value For AC motor configurations the current vector can also be rotated with a prescribed initial and increment angle Setup the maximum torque and the torque increment parameters If the drive controls an AC motor set the 0 Dtheta parameters else set them to 0 Then run the application T ib Example 23 vi Diagram Pi x File Edit Operate Tools Browse Window Help x ES EE Technosoft 2007 169 TML LIB LabVIEW User Manual Example 23 vi ET Technosoft 2007 170 TML LIB LabVIEW User Manual 4 24 Example 24 Profiled positioning and speed movement with event test from PC side This example starts a profiled positioning and performs testing of motion complete event by drive interrogation from the PC It also checks if the position value does not exceed some critical reverse value Once the positioning is completed the motor begins a speed profile movement If an error has occurred during positioning i e a wrong position value is reached instead of a motion complete event the motor is stopped Such an approach can be very useful in order to avoid entering an infinite waiting loop All event related TML_LIB functions can be set to wait until the programm
16. 4 5 O handling 3 4 5 1 TS Setupinput vi Symbol Port Number Return Prototype LONG _TS_SetupInput 4 UNSIGNED CHAR Port Number Parameters Name Input Port Number Port number to be set as input Output TRUE if no error FALSE if error Description The function sets the I O Port Number of the drive motor as an input port Use the function only if the input selected may also be used as an output Check the drive motor user manual to find what inputs are available Do this operation only once first time when you use the input If the drive motor has the inputs separated from the outputs i e none of the input line can be used as output you don t have to use the function Remark Depending on the firmware version programmed on the drive motor FAxx or FBxx the digital inputs and outputs are numbered as follows e from 0 to 39 for firmware FAxx The list is unordered for example a product with 4 inputs and 4 outputs can use the inputs 36 37 38 and 39 and the outputs 28 29 30 and 31 e From 0 to 15 for firmware version FBxx The list is ordered for example a product with 5 inputs and 3 outputs can use the inputs 0 1 2 3 and 4 and the outputs 0 1 and 2 Each intelligent drive motor has a specific number of inputs and outputs therefore only a part of the maximum number of I Os is used Related functions TS Getlnput vi TS SetupOutput vi TS_SetOutput vi Associated
17. 44 UNSIGNED SHORT INT Run Address DOUBLE Limit Variation SHORT INT Reference Base SHORT INT Enable Slave SHORT INT Move Moment LONG Offset From Master DOUBLE Mult Input Factor DOUBLE Mult Output Factor Parameters Name Description Aun Address Drive motor RAM address where the cam table is copied with function TS Camlnitialization Limit Variation Slave speed limit value expressed in TML speed units Specifies how the motion reference is computed from actual Reference Base values of position and speed reference or from actual values of nput n load motor position and speed Enable Slave Enable the electronic camming slave mode Move Moment Defines the moment when the settings are activated Offset From Master Cam table offset expressed in TML position units Mult Input Factor CAM table input scaling factor Mult Output Factor CAM table output scaling factor Output Description The function block programs the active axis to operate as slave in electronic camming absolute mode The slave drive motor executes a cam profile function of the master drive motor position The cam profile is defined by a cam table a set of X Y points where X is cam table input i e the master position and Y is the cam table output i e the corresponding slave position Between the points the drive motor performs a linear interpolation In electronic camming absolute mode the output of the cam table represents the position to reach
18. At that moment the motor is stopped and a jogging movement is started in the negative direction at negative speed until the negative limit switch is reached There the motor is stopped again The VI front panel allows you to setup the parameters of the speed profile b Example 09 vi Diagram File Edit Operate Tools Browse Window Help je ed m leo 1 tirs 1112 15 164 Motion Speed Technosoft 2007 144 TML_LIB_LabVIEW User Manual Example 09 vi 2 8 em Technosoft 2007 142 TML LIB LabVIEW User Manual 4 10 Example 10 Move between limit switches until an input port changes its status This example implements a jogging movement between the positive and the negative limit switches until a digital input changes its status At that moment the movement is stopped The VI front panel allows you to setup the parameter of the speed profile Example 10 vi Diagram File Edit Operate Tools Browse Window Help belle of 13pt Application Font Speed i Jogging Speed NO_CHANGE_ACC UPDATE_IMMEDIATE FROM_REFERENCE Technosoft 2007 143 TML LIB LabVIEW User Manual Example 10 vi elm Technosoft 2007 144 TML LIB LabVIEW User Manual 4 11 Example 11 Move forward and backward at 2 different speeds for a given distance This example implements a forward jogging movement over a given relative distan
19. Description Device Name The communication channel to be opened Input Type The type of the communication channel HostlD Axis ID for the PC Baud Rate Communication baud rate Output The file descriptor of the or 1 if error Description The function opens the communication channel specified with parameter Device Name The communication channel type is set with parameter Type The TML LIB LabVIEW supports the following communication types e serial RS 232 o Type CHANNEL RS232 for PC serial port CHANNEL VIRTUAL SERIAL for virtual serial interface e serial RS 485 o CHANNEL RS485 for an RS 485 interface board or an RS 232 RS 485 converter e CAN bus o Type CHANNEL IXXAT CAN for IxxAT PC to CAN interface Type CHANNEL SYS TEC USBCAN for Sys Tec USB to CAN interface Type CHANNEL PEAK SYS PCAN PCI for ESD PC to CAN interface Type CHANNEL ESD CAN for PEAK System PCAN PCI interface Type CHANNEL PEAK SYS PCAN ISA for PEAK System PCAN ISA Type CHANNEL PEAK SYS PCAN PC104 for PEAK System PC 104 Type CHANNEL PEAK SYS PCAN USB Type CHANNEL PEAK SYS PCAN DONGLE for PEAK System Dongle interfaces OQ QOO 01 0 1 Contact Technosoft for more details regarding the virtual serial channel Technosoft 2007 118 TML LIB LabVIEW User Manual e Ethernet o Type CHANNEL_XPORT_IP for XPort adapter bridge between Ethernet and RS 232 from Lantronix Depending on the communication channel type the
20. Description The function programs the active axis as master in electronic gearing Once at each slow loop sampling time interval the master sends either its load position APOS Reference Base FROM_MEASURE or its position reference TPOS Reference Base FROM_REFERENCE to the axis or the group of axes specified in the parameter Slave ID Remark The Reference Base FROM_MEASURE option is not valid if the master operates in open loop It is meaningless if the master drive has no position sensor The Slave ID is interpreted either as the Axis ID of one slave Group NO or the value of a Group ID i e the group of slaves to which the master should send its data Group YES The master operation is enabled with Enable ENABLE and is disabled when Enable DISABLE In both cases these operations have no effect on the motion executed by the master If the master activation is done AFTER the slaves are set in electronic gearing mode set Set Slave Pos INITIALIZE to determine the master to send an initialization message to the slaves The commands are executed e Immediately when Move Moment UPDATE_IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of the movement Use the TS Updatelmmediate vi or the TS UpdateOnEvent vi functions in order to activate the
21. E ER Tonga 79 3 4 5 2 TS Getlnpt VI etre cent e e ttu M aus 80 3 4 5 3 TS SetupOUutpUL Vi tan e d eater bebe a rra a EU ER orden 81 3 4 5 4 TS SetOUutput V i ted 82 3 4 5 5 TS GetHomelrpu t vli rer tt Pe 83 3 4 5 6 TS GetMultiplelrip ts Vi ner add 84 3 4 5 7 TS_SetMultipleOutputs vi sisi 85 3 4 5 8 5 1 62 sie 86 3 46 Datatranster sarah anne cet d de endi tb t 87 Technosoft 2007 VIII TML LIB LabVIEW User Manual 3 4 6 1 TES SetlhtVaniables Wicca La eed ele de aes de eae ead 87 3 4 6 2 TS GetlntVariable vi 2 nt i ete en dvi e ele 88 3 4 6 3 TS Setl ongVariable Vvi in varese qne xn Code 89 3 4 6 4 TS_GetLongVariable vi su 90 3 4 6 5 TS SetFixedVatiable VI 2 ertet tete ees 91 3 4 6 6 TS GetFixedVartable VI irc t eee Ce ep a hee e ttes 92 3 4 6 7 TS SetB fferivis x2 ind to ne 93 3 4 6 8 TS sGetBurie nv 2 ee A ee 94 3 4 7 Drive motor monitoring sis 95 3 4 7 1 IS zReadStaltus Vlc s tos ato iiie tiir ia iie co riae TINTO 95 3 4 7 2 5 9558 96 3 4 8 5 PT 97 3 4 8 1 TS Download Program sis 97 3 4 8 2 7 5 SEXO CULE IVI ieee ELM 98 3 4 8 3 TS EXECUTE SCHIP VL ih ete ti oe tim e t e
22. Example 19 Speed control with drive interrogation setup of TML speed parameters This example implements jogging movement with two levels of speed reference The program directly reads the TML speed reference and measured values and decides the moments when to change the speed reference The change is done also directly at the level of TML variables into the drive memory The VI front panel allows you to setup the parameters of the speed profile gt Example 19 vi Diagram File Edit Operate Tools Browse Window Help eje e n g is eor iter Eee E p n n a nnn Drive Motion status Speed ryuuuuuuuuuuumqsm s uuuuuuuuuun jogging Speed SPD variable Acceleration Sen ASPD variable value Comm Technosoft 2007 161 TML_LIB_LabVIEW User Manual Example 19 vi rr Technosoft 2007 162 TML LIB LabVIEW User Manual 4 20 Example 20 Setup positioning motion using tables stored into drive memory This example uses information locally stored in the drive internal memory in order to set up motion parameters Initially the program stores 2 tables containing different values for reference positions Then as an example of using this information it reads the value of an A D channel of the drive and based on the read value selects one of the tables The selected table is read from memory and the motion is imposed based on a value read from tha
23. LIB LabVIEW User Manual 1 Introduction The programming of Technosoft intelligent drives motors involves 2 steps 1 Drive motor setup 2 Motion programming For Step 1 drive motor setup Technosoft provides EasySetUp EasySetUp is an integrated development environment for the setup of Technosoft drives motors The output of EasySetUp is a set of setup data which can be downloaded to the drive motor EEPROM or saved on your PC for later use The setup data is copied at power on into the RAM memory of the drive motor and is used during runtime The reciprocal is also possible i e to retrieve the complete setup data from a drive motor EEPROM previously programmed EasySetUp can be downloaded free of charge from Technosoft web page It is also provided on the TML LIB LabVIEW installation CD For Step 2 motion programming Technosoft offers multiple options like 1 Use the drives motors embedded motion controller and do the motion programming in Technosoft Motion Language TML For this operation Technosoft provides EasyMotion Studio an IDE for both drives setup and motion programming The output of EasyMotion Studio is a set of setup data and a TML program to download and execute on the drive motor 2 Use a DLL with high level motion functions which can be integrated in a host application written in C C Delphi Pascal Visual Basic or LabVIEW 3 Use a PLCopen compatible library with motion function blocks which can be integrated
24. Reference Base FROM REFERENCE if you want the reference generator to compute the motion profile starting from the actual values of the position and speed reference Set Reference Technosoft 2007 10 TML LIB LabVIEW User Manual Base FROM_MEASURE if you want the reference generator to compute the motion profile starting from the actual values of the load motor position and speed When this option is used at the beginning of each new motion profile the position and speed reference are updated with the actual values of the load motor position and speed Remark In open loop control of steppers this option is ignored because there is no position and or speed feedback Related functions TS MoveRelative vi TS MoveSCurveAbsolute vi TS_MoveSCurveRelative vi TS_MoveVelocity vi Associated examples Example 6 Example 11 Example 12 Example 14 Example 27 Example 28 Example 29 Example 37 Example 39 Technosoft 2007 11 TML_LIB_LabVIEW User Manual 3 4 1 2 TS MoveRelative vi Symbol Position Speed M Acceleration s Return Additive Move Moment Reference Base Prototype LONG TS MoveRelative 32 LONG Position DOUBLE Speed DOUBLE Acceleration UNSIGNED CHAR Additive SHORT INT Move Moment SHORT INT Reference Base Parameters Description Position Position increment expressed in TML position units Speed Slew speed expressed in TML speed units If its value is zero the drive motor will
25. Return Time Point PVT Counter Prototype LONG TS SendPVTPoint LONG Position DOUBLE Velocity WORD Time SHORT INT PVT Counter Parameters Description Input Position Position at the end of the PVT segment expressed in TML position units Velocity Velocity at the end of the PVT segment expressed in TML speed units Time Time interval for the current PVT segment expressed in TML time units PVT Counter The integrity counter for the current PVT point Output return TRUE if no error FALSE if error Description The function sends a PVT point to the drive motor Each point specifies the desired Position Velocity and Time i e contains a PVT data Between the PVT points the reference generator performs a 3 order interpolation The PVT point also includes a 7 bit integrity counter read from PVT Counter The integrity counter value must be incremented by the host by one each time a new PVT point is sent to the drive motor Related functions TS PVTSetup vi TS SendPVTFirstPoint vi Associated examples Technosoft 2007 31 TML LIB LabVIEW User Manual 3 4 1 14 TS PTSetup vi Symbol Clear Buffer Integrity Checking PT Return Change Counter Setup Absolute Position Source Change Low Level PT Counter Yalue Low Level Yalue Prototype LONG TS PTSetup 28 SHORT INT Clear Buffer SHORT INT Integrity Checking SHORT INT Change PT Counter SHORT INT Absolute Position Source SHORT INT Change Low Level S
26. TML LIB LabVIEW User Manual 4 32 Example 32 Set up Master and Slave in electronic use the drives in cam mode This example shows how to set up the electronic cam mode on the master as well as on the slave axes in a multiple axis structure It initializes the master and the slave with the appropriate parameters It also downloads an electronic cam table file on the slave axis drive Then it starts a motion on the master At the end of the electronic cam mode operation it disables both the master and the slave from this operation mode UN Address Technosoft 2007 187 TML_LIB_LabVIEW User Manual The VI front panel allows to set the for the master axis the parameters of the position profile to select the for slave axis the load address and the run address for the cam table Technosoft 2007 188 TML_LIB_LabVIEW User Manual 4 33 Example 33 Usage of data logger to upload real time stored data from the drive This example shows how to setup the data logger on a drive to start data logging check its end and upload the logged data from the drive to the PC gt Example 33 vi Diagram File Edit Operate Tools Browse Window Help SL rs 77 XScale Minimum AddrLoag PYScale NameLbl Text v64 P Plot Name Tuuuuuuuuuuuuuuuuuuuuuuuuuuuuuunuuunut Technosoft 2007 189 TML LIB LabVIEW User Manual File Edit Operate Tools Browse Window He
27. TML_LIB_LabVIEW User Manual 3 4 1 5 TS MoveVelocity vi Symbol Speed Acceleration ade re Return Move Moment Reference Base Prototype LONG TS MoveVelocity 24 DOUBLE Speed DOUBLE Acceleration SHORT INT Move Moment SHORT INT Reference Base Parameters Description Speed Jog speed expressed in TML speed units A Acceleration rate expressed TML acceleration units If the value is cceleration zero the drive motor will use the previously value set for acceleration Input Move Moment Defines the moment when the motion is started Specifies how the motion reference is computed from actual values of Reference Base position and speed reference or from actual values of load motor position and speed Output Description The function programs a trapezoidal speed profile You specify the jog Speed The load motor accelerates until the jog speed is reached The jog speed can be positive or negative the sign gives the direction The Acceleration can be only positive Once set the motion parameters are memorized on the drive motor If you intend to use values previously defined for the acceleration rate you don t need to send its value again in the following speed profiles Set to zero the value of acceleration if you want the drive motor to use the value previously defined with other commands this option reduces the TML code generated by this function The motion is executed e Immediatel
28. Transition Type Specifies the input transition monitored In ne put Wait Event Specifies if the function waits the event occurrence Enable Stop Stop the motion when at event occurrence Output Return TRUE if no error FALSE if error Description It allows you to program an event function of drive motor encoder index inputs You can monitor the first encoder index Index Type Index_1 or the second encoder index Index Type Index_2 The event is trigger by encoder index transition low to high when Transition TRANSITION LOW TO HIGH or by the transition high to low when Transition Type TRANSITION HIGH TO LOW If the parameter Wait Event WAIT EVENT the function tests continuously the event status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an internal loop of the TS SetEventOnEncoderlndex vi function waiting for the event to occur If the parameter WaitEvent NO WAIT EVENT you can check if the event occurred using the TS CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period At the event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO STOP if you do not want to stop the motion at event occurrence Related functions 5 CheckEvent vi and all oth
29. active axis the checksum of a memory range The memory range is defined with parameters Start Address and End Address The function stores the checksum received from the drive in variable Checksum With function TS OnlineChecksum vi you can check the integrity of the data saved in a drive motor EEPROM or RAM memory The memory type is selected automatically function of the Start Address and the End Address Related functions TS SetBuffer vi Associated examples Example 39 Technosoft 2007 96 TML LIB LabVIEW User Manual 3 4 8 Miscellaneous 3 4 8 1 TS DownloadProgram Symbol File N IUE Return Entry Point Prototype LONG TS DownloadProgram 28 CSTR File Name UNSIGNED SHORT INT Entry Point Parameters Description Input pszOutFile The name of the out file generated with EasyMotion Studio Output wEntryPoint Start address of downloaded file return TRUE if no error FALSE if error Description The function downloads a COFF formatted file to the drive motor and returns the entry point of that file Parameter File Name specifies the name of the object file to be downloaded If the operation is successful the function will return the entry point start address of the downloaded code in the Entry Point parameter You can use this address to launch the execution of the downloaded code by using it as the input argument of the TS GOTO vi or TS CALL vi functions The COFF file is generated from Eas
30. bit 8 of Status Register Low part is set Hence you can find when a homing sequence ends either by monitoring the bit 8 from SRL or by programming the drive motor to send a message to your host when the bit changes As long as a homing sequence is in execution you should not start another one If this happens the last homing is aborted and a warning is generated by setting bit 7 from SRL Remark In motion programming tools like EasyMotion Studio Technosoft provides for each intelligent drive motor a collection of up to 32 homing procedures These are predefined TML functions which you may call after setting the homing parameters You may use any of these homing procedures as they are or use them as a starting point for your own homing routines Before using any homing method from the TML_LIB environment you need to perform the following steps e Create in EasyMotion Studio a project for your drive motor e Setup the drive motor and download the setup table After the download reset the drive motor to activate e Select Homing Modes view In this view you can see all the homing procedures defined for your drive motor together with a short description of how it works In order to select a homing procedure check its associated button You may choose more then homing procedure if you intend to use execute different homing operations in the same application e Download the homing procedure with menu command Application Motion Download Pro
31. can add it if needed for the other examples too File Edit Operate Tools Browse Window Help mue T UPDATE_IMMEDIATE FROM_REFERENCE Technosoft 2007 125 TML LIB LabVIEW User Manual gt Examplel vi Technosoft 2007 126 TML LIB LabVIEW User Manual 4 2 Example 2 Positioning movement wait a while speed jogging stop after a time period This example implements a relative positioning movement waits until the motion is finished then stays stopped for a given time interval After this time interval the motor starts moving with a constant speed After another time interval the motor is stopped The VI front panel allows you to setup the parameters of the first speed profile second speed profile the time interval for which the motor remains stopped and the time interval after which the motor is stopped 02 vi Diagram File Edit Operate Tools Browse Window Help DS Om P Role os ist Application Font 7 d 8 765 7 guum N Drive i i Speed b ougugugugagauguuu uuMo a4 v auoaoaagaaagsgaoaosouongun0 vem Technosoft 2007 127 TML_LIB_LabVIEW User Manual Example 02 vi seo Technosoft 2007 128 TML LIB LabVIEW User Manual 4 3 Example 3 Speed profile with two acceleration values This example implements a speed movement having two different acceleration values during motor start one acceleration value for
32. error FALSE if error Description The function checks if the actually active event occurred If an event was defined using one of the SetEvent functions with WaitEvent NO WAIT EVENT then you can check if the event occurred using the TS CheckEvent vi function This is an interesting alternative to the case when WaitEvent parameter was set to WAIT EVENT in one of the SetEvent functions In that case if the event will not occur due to some unexpected problems the program will hang up in an internal loop of the SetEvent function waiting for the event to occur Thus in order to avoid such a problem set the WaitEvent parameter to NO WAIT EVENT in the SetEvent function and then call the TS CheckEvent vi function from your application In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period Related functions all SetEvent functions Associated examples Example 24 Example 27 Technosoft 2007 57 TML LIB LabVIEW User Manual 3 4 8 2 TS SetEventOnMotionComplete vi Symbol Wait Event Set Event Ret Enable Stop MC eturn Prototype LONG TS SetEventOnMotionComplete 8 SHORT INT Wait Event SHORT INT Enable Stop Parameters Name Description Wait Event Specifies if the function waits the event occurrence In put Enable Stop On motion complete stop the motion Output TRUE if no error FALSE if error Description The fun
33. established during the drive motor setup The drive motor follows the external reference with a gear ratio different than 1 1 when Set Gear Ratio YES The gear ratio is specified as a ratio of 2 integer values Numerator Denominator The Numerator value is signed while the Denominator is unsigned The sign indicates the direction of movement positive same as the external reference negative reversed to the external reference You can limit the maximum acceleration at sudden changes of the external reference and thus to get a smoother transition This feature is activated when the parameter Limit Value has a positive value and disabled when its value is zero The motion is executed e Immediately when Move Moment UPDATE_IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT e f you select Move Moment UPDATE NONE the motion parameters are set but the motion is not activated You l need to issue an update command to determine the execution of the movement Use the TS Updatelmmediate vi or the TS_UpdateOnEvent vi functions in order to activate the movement Related functions TS_SetAnalogueMoveExternal TS_SetOnlineMoveExternal Associated examples Example 21 Technosoft 2007 22 TML_LIB_LabVIEW User Manual 3 4 1 8 TS SetOnlineMoveExternal vi Symbol Reference Type oan Limit Variation EL En Return Initial Value Move Moment Prototype LONG TS SetOnlineMoveExternal 24 SHORT INT R
34. examples Example 5 Example 8 Example 10 Example 15 Example 16 Example 18 Example 30 1 Represents the firmware versions FOOOH F020H F005H F900H or later programmed on Technosoft drives motors IDM240 IDM640 IDS240 IDS640 ISCM4805 ISCM8005 IBL2403 IM23x models IS and MA Represents the firmware versions F500A or later programmed on Technosoft drives IDM240 CANopen IDM640 CANopen IDS640 CANopen Technosoft 2007 79 TML LIB LabVIEW User Manual 3 4 5 2 TS Getlnput vi Symbol Return Port Number In Value Prototype LONG TS Getlnput 24 UNSIGNED CHAR Port Number UNSIGNED CHAR Value Parameters Name Description Input Port Number Input port number read In Value Pointer to the variable where the port status is stored Output TRUE if no error FALSE if error Description The function returns the status of digital input Port Number When the function is executed the variable In Value where the input line status is saved becomes e Zero if the input line was low e Non zero if the input line was high If the IO port selected can be used as input or an output prior to call TS Getlnput vi you need to call TS_SetupInput and configure IO port as input Check the drive motor user manual to find what inputs are available Remark Depending on the firmware version programmed on the drive motor FAxx or FBxx the digital inputs and outputs are numbered as follows e From 0 to 39
35. format file containing TML application generated from EasyMotion Studio to the drive This allows you to distribute the intelligence between the PC and the drives motors in complex multi axis applications Thus instead of trying to command each step of an axis movement you can program the drives motors using TML to execute complex tasks and inform the master when these are done The application requires a COFF file containing valid TML code For this example you can use the sample file Ex29RAM out provided with the library The file is installed in the sub directory Example Files of the TML_LIB_LabView installation directory Example 29 i Diagram File Edit Operate Tools Browse Window Help Technosoft 2007 181 TML LIB LabVIEW User Manual Example 29 vi Technosoft 2007 182 TML LIB LabVIEW User Manual 4 30 Example 30 Download COFF format file then call TML functions The example downloads a COFF format file out in the drive memory then execute the TML code included in the downloaded code The COFF file is generated with EasyMotion Studio based on a TML application The addresses and the names of the functions are listed in the variables cfg The example first downloads the out file containing this code and then based on the status of a digital input port selects which function to execute and launches it using the function TS CALL Note that when you call a function stored in the d
36. menu command Application Motion Build e Generate the configuration setup with the menu command Application Export to TML lib to include the new function names in the setup data e Download the TML code in the drive motor memory with EasyMotion Studio or function TS DownloadProgram vi Remark 1 You can call only one function at a time using the TS CancelableCALL vi Any cancelable call issued during the execution of a function called with TS CancelableCALL vi is ignored This situation is signaled with bit x from SRL 2 For more details about drive motor memory structure see the Memory Map topic from EasyMotion Studio help 3 During the execution of a local TML program on the drive any TML command sent on line from the PC is treated with higher priority and will be executed before executing the local TML code Related functions TS DownloadProgram vi TS TS CALL Label vi TS CancelableCALL vi Associated examples Example 34 Technosoft 2007 77 TML LIB LabVIEW User Manual 3 4 4 7 TS ABORT vi Symbol Prototype LONG _TS_Abort 0 void Parameters Name Description Input Output TRUE if no error FALSE if error Description The function aborts the execution of a TML function launched with a cancelable call Related functions 5 CancelableCALL vi TS CancelableCALL Label vi Associated examples Example 34 Technosoft 2007 78 TML LIB LabVIEW User Manual 3
37. order to check if the data logging process is still running or if the data logging process was ended The function returns the Logger Status parameter whose value indicates how many points are still to be captured If Logger Status 0 the data logging process is finished The function may be called only after the start of the logging process with the 5 StartLogger vi function Related functions TS SetupLogger vi TS StartLogger vi 5 UploadLoggerResults vi Associated examples Example 33 Technosoft 2007 107 TML LIB LabVIEW User Manual 3 4 9 4 TS UploadLoggerResults vi Symbol Logger Address Return Array Values In Array Values Out Count Values In Count Values Out Prototype LONG TS UploadLoggerResults WORD wLogBufferAddr WORD arrayValues WORD amp countValues Parameters Description The address of the logger buffer in drive motor memory where data will be stored during logging Array Values Pointer to the array where the uploaded data is stored on the PC Count Values The size of Array Values expressed in WORDs Count Values The number of uploaded data return TRUE if no error FALSE if error Logger Address Input Output Description The function uploads the data logged from the active axis Use this function to upload the data stored during the data logger execution Before calling the function you must declare a data buffer in the PC program starting at the Array Values addres
38. output if present is set to the ready level the Error output if present is set to the no error level and the drive motor returns to normal operation Remarks e The TS HesetFault vi execution does not change the status of MEH 15 enable input disabled level MER 7 negative limit switch input active MER 6 positive limit switch input active and MER 2 invalid setup table e The drive motor will return to FAULT status if there are errors when the function is executed Related functions TS Power vi Associated examples Example 36 Technosoft 2007 102 TML LIB LabVIEW User Manual 3 4 8 7 TS Reset vi Symbol Prototype LONG _TS_Reset 0 void Parameters Name Description Inpt Output return TRUE if no error FALSE if error Description The function resets the active axis After reset the drive motor will load the values of TML parameters set during setup phase If the drive motor is configured to run in the Autorun mode it will automatically execute after reset the TML code stored in the E2ROM memory if there is such a program Remark If during drive motor operation you have changed the setup parameters and want to use them after the reset call function TS Save vi prior TS Heset vi The function TS Save vi stores in the drive motor EEPROM memory the actual values of all TML parameters Related functions TS Power vi TS DownloadProgram vi TS GOTO vi TS Save vi Associa
39. previously executed TML LIB LabVIEW library function call Use this function if you want to examine the TML code that is generated when you call one of the functions of the TML LIB LabVIEW library The code is returned in the Output string Set the maximum number of characters to be returned as the value of the Max Chars parameter Related functions TS Execute vi Associated examples Example 41 Technosoft 2007 100 TML LIB LabVIEW User Manual 3 4 8 5 TS Save vi Symbol Prototype LONG TS Save 0 void Parameters Name Description Inptt Output TRUE if no error FALSE if error Description The function saves the actual values of all the TML parameters with setup data from the active data RAM memory into the EEPROM memory in the setup table Through this command you can save all the setup modifications done after the power on initialization Related functions TS Reset vi TS Save vi Associated examples Example 20 Technosoft 2007 101 TML LIB LabVIEW User Manual 3 4 8 6 TS ResetFault vi Symbol Reset Prototype LONG _TS_ResetFault 0 void Parameters Name Description Inpt Output TRUE if no error FALSE if error Description The function gets out the active axis from the FAULT status in which it enters when an error occurs After a TS ResetFault vi execution most of the errors bits from Motion Error Register are cleared set to 0 the Ready
40. reference of type pulse amp direction or quadrature encoder Enable Slave SLAVE 2ND ENCODER Technosoft 2007 40 TML LIB LabVIEW User Manual Remark 1 Set Enable Slave SLAVE_NONE if you want to program the motion mode parameters without enabling it 2 Use function block TS_SetCammingMaster vi to program a drive motor as master in electronic camming When the reference is read from second encoder or pulse amp direction inputs you don t need to program a drive motor as master in electronic camming When master position is provided via the external digital interface the slave computes the master position by counting the pulse amp direction or quadrature encoder signals The initial value of the master position is set by default to 0 Use function block TS_SetLongVariable to change its value by writing the desired value in the TML variable APOS2 With parameter Offset From Master you can shift the cam profile versus the master position by setting an offset for the slave The cam table input is computed as the master position minus the cam offset For example if a cam table is defined between angles 100 to 250 degrees a cam offset of 50 degrees will make the cam table to execute between master angles 150 and 300 degrees You can compress extend the cam table input Set the parameter Mult Input Factor with the correction factor by which the cam table input is multiplied For example an input correction factor of 2 combined
41. speeds below a given level and another acceleration value for speeds greater than the speed level The motor is stopped after a time interval The VI front panel allows you to setup the parameters of the first speed profile and to set the acceleration for the second speed profiles gt Example 03 vi Diagram File Edit Operate Tools Browse Window Help ed dealer s ramener LEE 1 Dri n n Motion Speed 3 Technosoft 2007 129 TML_LIB_LabVIEW User Manual Example 03 vi Tel ejr d 4 docs Technosoft 2007 130 TML LIB LabVIEW User Manual 4 4 Example 4 Speed jogging wait a time period positioning movement This example implements a speed movement for a given time period followed by a relative positioning The VI allows you to setup the parameters of the speed and position profile The VI front panel allows you to setup the parameters of the speed and position profiles gt Example 04 vi Diagram File Edit Operate Tools Browse Window Help Motion Speed TS MoveVelocity vi Init i Comm 184 aes FROM_REFERENCE Technosoft 2007 134 TML_LIB_LabVIEW User Manual Example 04 vi Technosoft 2007 132 TML LIB LabVIEW User Manual 4 5 Example 5 Speed jogging wait for an input port to be t
42. use the previously value set for speed Acceleration deceleration rate expressed in the TML acceleration units Acceleration If its value is zero the drive motor will use the previously value set for Input acceleration Additive Specifies how is computed the position to reach Move Moment Defines the moment when the motion is started Specifies how the motion reference is computed from actual values of Reference Base position and speed reference or from actual values of load motor position and speed Output Description The function programs a relative positioning with trapezoidal speed profile The motion is described through Position for position increment Acceleration for acceleration deceleration rate and Speed for slew speed The position increment can be positive or negative the sign gives the motion direction The speed and acceleration can be only positive Once set the motion parameters are memorized on the drive motor If you intend to use values previously defined for the acceleration rate and or the velocity you don t need to send their values again in the following trapezoidal profiles Set to zero the value of speed and or acceleration if you want the drive motor to use the values previously defined with other commands this option reduces the TML code generated by this function The position to reach can be computed in 2 ways standard default or additive In standard mode the position to reach is computed by adding the pos
43. zero The motion is executed e Immediately when Move Moment UPDATE IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of the movement Use the TS Updatelmmediate vi or the TS UpdateOnEvent vi functions in order to activate the movement Related functions TS TorqueTestMode vi Associated examples Example 22 Technosoft 2007 25 TML LIB LabVIEW User Manual 3 4 1 10 TS TorqueTestMode vi Symbol Move Moment Maximum Torque Torque increment Return Theta DTheta Prototype LONG TS TorqueTestMode 220 SHORT INT MaxTorque SHORT INT IncrTorque SHORT INT Theta0 SHORT INT Dtheta SHORT Move Moment Parameters Name Description Input MaxTorque Maximum test torque expressed in TML current units IncrTorque Torque increment expressed in TML internal units Initial value of electrical angle TML electrical angle units Dtheta Electric angle increment expressed in TML electrical angle increment units Move Moment Defines the moment when the motion is started Output return TRUE if no error FALSE if error Description The function allows you to set the drives motors in torque test mode In the test mode a saturated ramp current is applied to the motor i e the current will increase with the
44. 0 Example 12 Example 15 Example 16 Example 17 Example 18 Example 19 Example 24 Example 27 Example 28 Example 29 Example 30 Example 31 Example 39 Example 40 Technosoft 2007 19 TML_LIB_LabVIEW User Manual 3 4 1 6 TS SetAnalogueMoveExternal vi Symbol Reference Type aL Update Reference Return Limit variation Move Moment Prototype LONG TS SetAnalogueMoveExternal 20 SHORT INT Reference Type UNSIGNED CHAR Update Reference DOUBLE Limit Variation SHORT INT Move Moment Parameters Description Reference Type Specifies how the analogue signal is interpreted Update Reference Specifies how often the analogue reference is read when torque control Input is performed RM T Speed acceleration limit value for position speed control expressed in Limit Variation h TML internal units Move Moment Defines the moment when the motion is started Output Return TRUE if no error FALSE if error Description The function block programs the drive motor to work with an external analogue reference read via a dedicated analogue input 10 bit resolution The analogue signal can be interpreted as a position speed or torque analogue reference Through parameter ReferenceType you specify how the analogue signal is interpreted e Position reference when Reference Type REFERENCE_POSITION The drive motor performs position control e Speed reference when Reference Type REFERENCE_SPEED The drive m
45. 42 Technosoft 2007 63 TML LIB LabVIEW User Manual 3 4 3 7 TS SetEventOnTime vi Symbol Time et Wait Event EVEN Return Enable Stop Prototype LONG TS SetEventOnTime 12 UNSIGNED SHORT INT Time SHORT INT Wait Event SHORT INT Enable Stop Parameters Name Description Time Time delay expressed in TML time units Input Wait Event Specifies if the function waits the event occurrence Enable Stop On event stop the motion Output return TRUE if no error FALSE if error Description The function programs an event after a time period equal to the value of the Time parameter If the parameter Wait Event WAIT EVENT the function tests continuously the event status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an internal loop of the TS SetEventOnTime vi function waiting for the event to occur If the parameter Wait Event NO WAIT EVENT you can check if the event occurred using the TS CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period At the event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO STOP if you do not want to stop the motion at event occurrence Remark The timers start ONLY after the execution of the ENDINIT end of initialization c
46. B LabVIEW allows you to communicate with Technosoft drive motors via serial RS 232 RS 485 CAN bus or Ethernet protocols Scope of This Manual This manual applies to the following Technosoft intelligent drives and motors e IDM240 IDM640 models 0 240 5 IDM240 5LI IDM640 8EI and IDM640 8LI with firmware FOOOH or later revision letter must be equal or after H i e J etc 10 240 CANopen IDM640 CANopen models IDM240 5EI CANopen IDM240 5LI CANopen IDM640 8EI CANopen and IDM640 8LI CANopen with firmware version F500A 105240 IDS640 all models with firmware or later 105640 CANopen with firmware F500A or later e 15 4805 ISCM8005 all models with firmware FOOOH or later e BL2403 all models with firmware 2 or later e PS110 all models with firmware or later e 23 models IS and MA with firmware F900H or later IMPORTANT For correct operation these drives motors must be programmed with firmware revision H EasySetUp Technosoft IDE for drives motors setup includes a firmware 1 EasySetUp is included in TML LIB LabVIEW installation package as a component of EasyMotion Studio Demo version It can also be downloaded free of charge from Technosoft web page Technosoft 2007 Hl TML LIB LabVIEW User Manual programmer with which you can check your drive motor firmware version and revision and if needed update your drive motor firmware to revis
47. CammingMaster 220 SHOT INT Group UNSIGNED CHAR Slave ID SHORT INT Reference Base SHORT INT Enable SHORT INT Move Moment Parameters Description G Specifies if the master sends its position to one slave or a group of dnd slaves Input Slave ID The axis ID of the slave or group ID of group of slaves Reference Base Specifies if the master sends its load position or its position reference Enable Enable disables the master in electronic camming Move Moment Defines the moment when the settings are activated Output Return TRUE if no error FALSE if error Description The function programs the active axis as master in electronic camming Once at each slow loop sampling time interval the master sends either its load position APOS Reference Base FROM MEASURE or its position reference TPOS Reference Base FROM REFERENCE to the axis or the group of axes specified in the parameter Slave ID Remark The Reference Base FROM MEASURE option is not valid if the master operates in open loop It is meaningless if the master drive has no position sensor SlavelD is interpreted either as the Axis ID of one slave Group SET SLAVE or the value of a Group ID i e the group of slaves to which the master should send its data Group z SET GROUP The master operation is enabled with Enable ENABLE and is disabled when Enable DISABLE In both cases these operations have no effect on the motion executed by the master The c
48. DATE NONE the motion parameters are set but does not execute You ll need to issue an update command to determine the execution of the movement Use the TS Updatelmmediate vi or the TS UpdateOnEvent vi functions in order to activate the movement Related functions TS SetDigitalMoveExternal vi TS SetOnlineMoveExternal vi Associated examples Example 13 Technosoft 2007 21 TML_LIB_LabVIEW User Manual 3 4 1 7 TS SetDigitalMoveExternal Symbol Move Moment Set Gear Ratio ES qital Denominator Return Numerator Limit Yariation Prototype LONG TS SetDigitalMoveExternal 24 UNSIGNED CHAR Set Gear Ratio SHORT INT Denominator SHORT INT Numerator DOUBLE Limit Variation SHORT INT Move Moment Parameters Description Set Gear Ratio Specifies if the digital reference is followed by the drive with a gear ratio Denominator Gear ratio denominator Input Numerator Gear ratio numerator Limit Variation Acceleration limit value Move Moment Defines the moment when the motion is started Output Return TRUE if no error FALSE if error Description The function block programs the drive motor to work with an external digital reference provided as pulse amp direction or quadrature encoder signals In either case the drive motor performs a position control with the reference computed from the external signals Remarks The option for the input signals pulse amp direction or quadrature encoder is
49. EW User Manual connections to the drive and or to determine validate part of the motor sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Close the Drive setup dialogue with OK to keep all the changes regarding the motor and the drive setup Step 4 Download setup data to drive motor Press the Download to Drive Motor button to download your setup data in the drive motor EEPROM memory in the setup table From now on at each power on the setup data is copied into the drive motor RAM memory that is used during runtime It is also possible to Save the setup data on your PC and use it in other applications Step 5 Reset the drive motor to activate the setup data Step 6 Create the setup data for TML LIB LabVIEW The TML LIB LabVIEW requires drive motor setup information for proper execution of the application The setup data is generated with the Setup Export to TML LIB command if you are in EasySetUp or the Application Export to TML LIB command if you are using EasyMotion Studio The information is generated in the form of an archive file with the t zip extension and is saved in the Archives folder from EasySetUp EasyMotion Studio installation folder by default C Program Files Technosoft ESM 2 4 Build an app
50. File Edit Operate Tools Browse Window Help Technosoft 2007 155 TML LIB LabVIEW User Manual Example 16 vi lel Technosoft 2007 156 TML LIB LabVIEW User Manual 4 17 Example 17 Move between limit switches Power off if blocked on a limit switch This example implements a jogging movement until the positive limit switch is reached At that point the motion is reversed until the negative limit switch is reached then the motion is stopped The program checks if after reversing the motion at positive limit switch reach this limit switch continues to be ON after a given time period In this case the drive is powered OFF as this can represent an emergency situation The VI front panel allows you to setup the parameters of the speed profile Set to low the LSP input in order to reverse the motion During the reverse motion set to low the LSN input in order to stop the motor If the LSP input is set to low for a longer time at its reach the drive is powered OFF Example 17 i Diagram File Edit Operate Tools Browse Window Help g a t 8s ae JO Motion Speed ij L UPDATE_IMMEDIATE FROM_REFERENCE Technosoft 2007 157 TML_LIB_LabVIEW User Manual Example 17 wi DEN Technosoft 2007 158 TML LIB LabVIEW User Manual 4 18 Example 18 Jog at a speed computed from A D signal until digital input is reset This examp
51. G _TS_SelectChannel 4 SHORT INT fd Parameters Name Input The communication channel file descriptor Output TRUE if no error FALSE if error Description The function selects as active the communication channel described by parameter fd All commands send towards the drives motors will use the selected communication channel Remarks 1 Use function TS OpenChannel vi to open the communication channels 2 The function TS SelectChannel vi is not required in application with only one communication channel Related functions TS OpenChannel vi TS CloseChannel vi Associated examples all examples Technosoft 2007 120 TML LIB LabVIEW User Manual 3 4 12 3 TS CloseChannel vi Symbol Close hanne fd Prototype void TS CloseChannel 4 SHORT INT fd Parameters Name Input The communication channel file descriptor Ouput Description The function closes the communication channel described by parameters fd With fd 1 the function closes the channel previously selected with function TS_SelectChannel vi This function must be called at the end of the application It will release the communication channel resources as it was allocated to the program when the TS_OpenChannel vi function was Called Related functions TS OpenChannel vi TS_SelectChannel vi Associated examples all examples Technosoft 2007 121 TML LIB LabVIEW User Manual 4 Examples This chapte
52. H F900H or later on Technosoft drives motors IDM240 IDM640 IDS240 IDS640 ISCM4805 ISCM8005 IBL2403 IM23x models IS and MA Represents the firmware versions F500A or later on Technosoft drives IDM240 CANopen IDM640 CANopen IDS640 CANopen Technosoft 2007 82 TML_LIB_LabVIEW User Manual 3 4 5 5 TS GetHomelnput vi Symbol Return In Value Prototype LONG TS GetHomelnput 24 UNSIGNED CHAR Value Parameters Name Input Pointer to the variable where the port status is stored Output Return TRUE if no error FALSE if error Description The function returns the status of the general purpose digital input assigned as home input Check the drive motor user manual to find the IO configuration When the function is executed the variable In Value where the input line status is saved becomes e Zero if the input line was low e Non zero if the input line was high If the input port may also be used as output prior to call TS Getlnput vi you need to call TS and configure it as input Related functions TS Setuplnput vi TS SetupOutput vi T8 SetOutput vi Associated examples Example 32 Example 38 Technosoft 2007 83 TML LIB LabVIEW User Manual 3 4 5 6 TS GetMultiplelnputs vi Symbol Return Variabl ariable Name Status Prototype LONG TS GetMultiplelnputs CSTR Variable Name SHORT INT Status Parameters Name
53. HORT INT PT Counter Value SHORT INT Low Level Value Parameters Description Clear Buffer When TRUE the PT buffer is cleared Integrity Checking Enable disable PT counter integrity checking Change PT Counter S if the integrity counter is updated with the value of PT ounter Value parameter Input Absolute Position Source Selects the source for initial position for absolute PVT mode Specifies if the level for BufferLow signaling is updated with the value of LowLevelValue parameter PT Counter Value The new value for the drive motor PVT integrity counter Low Level Value The new value for the level of the BufferLow signal Output Return TRUE if no error FALSE if error Description The function programs a drive motor to work in PT motion mode In PT motion mode the drive motor performs a positioning path described through a series of points Each point specifies the desired Position and Time i e contains a PT data Between the points the built in reference generator performs a linear interpolation Change Low Level Remark The function block just programs the drive motor for PT mode The motion mode is activated with function TS SendPTFirstPoint vi and the PT points are sent to the drive with function TS_SendPTPoint vi The PT motion mode can be started only when the previous motion is complete However you can switch at any moment to another motion mode The PT mode can be relative or absolute In the a
54. I STP UM xxxx describes the MotionChip II operation and how to setup its registers and parameters starting from the user application data This is a technical reference manual for all the MotionChip Il registers parameters and variables Technosoft 2007 IV TML LIB LabVIEW User Manual If you Need Assistance If you want to Contact Technosoft at Visit Technosoft online World Wide Web http www technosoftmotion com Receive general information World Wide Web http www technosoftmotion com or assistance Email contact technosoftmotion com Ask questions about product operation or report suspected problems Fax 41 32 732 55 04 Email hotline technosoftmotion com Make suggestions about or report errors in documentation Technosoft 2007 V TML LIB LabVIEW User Manual Contents Introduction oerte 1 2 Getting siate d eniti 3 at Hardware installation iie idi i oed i said cie 3 2 2 Software installation iiec ee sit iced thuat Iano ed dk anat Fauna E LEA ao dE 3 2 2 1 Installing EasySetUp eaten ae de Fe adc dde tha 3 2 2 2 Installing TML LIB LabVIEW library ss 3 2 3 Divemor set p ie ee ER YR Gi eet DU edie ee tee 4 2 4 Build an application with TML LIB 5 3
55. TO 4 UNSIGNED SHORT INT address Prototype Parameters Name Description Input The memory address where the jump is made Output TRUE if no error FALSE if error Description The function commands the active axis to execute the TML code beginning from the address until TML instruction END is encountered The TML code can be stored in the drive motor EEPROM memory or in the TML program memory Prior calling the TS GOTO vi function you have to e Create a TML sequence using EasyMotion Studio e Download the TML code in the drive motor memory with EasyMotion Studio or subVI TS DownloadProgram vi e Make sure that a valid instruction is found at address Otherwise unpredictable effects can occur which can affect the correct operation of the drive motor Remark 1 For more details about drive motor memory structure see the Memory Map topic from EasyMotion Studio help 2 During the execution of a local TML program on the drive any TML command sent on line from the PC is treated with higher priority and will be executed before executing the local TML code Related functions TS DownloadProgram vi TS GOTO Label vi TS CALL vi TS CALL Label vi Associated examples Example 29 Example 30 Technosoft 2007 72 TML LIB LabVIEW User Manual 3 4 4 2 TS Label vi Symbol Label ose Return Prototype LONG _TS_GOTO_Label 4 CSTR Label Parameters Name Description Input TML program lab
56. TS Label vi TS CALL vi TS CALL Label vi Associated examples Example 29 Technosoft 2007 73 TML LIB LabVIEW User Manual 3 4 4 3 TS CALL vi Symbol Address CALL Return Prototype LONG _TS_CALL 4 UNSIGNED SHORT INT address Parameters Name Description Input The memory address where the jump is made Output TRUE if no error FALSE if error Description The function commands the active axis to execute the TML function stored at address The TML functions can be stored in the drive motor EEPROM memory or in the TML program memory The function execution ends when the TML instruction RET is encountered Prior using the 6 CALL vi function you have to e Create atleast one TML function using EasyMotion Studio e Download the TML code in the drive motor memory with EasyMotion Studio or function TS DownloadProgram e n the Command Interpreter type the command Function name to retrieve the function address Repeat the procedure above for all the functions e Make sure that a valid TML code subroutine begins at address Otherwise unpredictable effects can occur which can affect the correct operation of the drive motor Remark 1 For more details about drive motor memory structure see the Memory Map topic from EasyMotion Studio help 2 During the execution of a local TML program on the drive any TML command sent on line from the PC is treated with higher priority and will be executed before ex
57. TS SelectGroup vi iii 116 3 4 11 3 TS SelectBroadcast vi ss 117 3 4 12 Communication Setup sisi 118 3 4 12 1 TS OpenChannel vi sisi 118 39 4442 2 TS SelectChannelvi sen tdi ede ge deste dun 120 3 4123 TS GloseGhannel eene tede de eun 121 4 ETE 122 4 1 Example 1 Profiled positioning movement followed by a speed profile jogging 125 4 2 Example 2 Positioning movement wait a while speed jogging stop after a time period 127 4 3 Example Speed profile with two acceleration values 129 Technosoft 2007 IX TML LIB LabVIEW User Manual 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 4 12 4 13 4 14 4 15 4 16 4 17 4 18 4 19 4 20 4 21 4 22 4 23 4 24 4 25 4 26 4 27 4 28 zero 4 29 Example 4 Speed jogging wait a time period positioning movement 131 Example 5 Speed jogging wait for an input port to be triggered positioning movement 133 Example 6 Absolute position motion profile with different acceleration deceleration rate 135 Example 7 Positioning movement speed jogging wait a time period then stop 137 Example 8 Repeat a motion at input port set with current reduction between motions 139 Example 9 Move to the positive limit switch reverse to the negative limit switch 141 Example 10 Move between limit switches until an input p
58. TS_UpdateOnEvent vi functions in order to activate the movement Related functions TS MoveAbsolute vi TS MoveRelative vi TS MoveSCurveRelative vi TS MoveVelocity vi TS_QuikStopDecelerationRate vi Associated examples Example 35 Technosoft 2007 15 TML_LIB_LabVIEW User Manual 3 4 1 4 TS MoveSCurveRelative vi Symbol Position Speed Acceleration Return Jerk Time rel Move Moment Deceleration Type Prototype LONG _TS_MoveSCurveRelative 32 LONG Position DOUBLE Speed DOUBLE Acceleration LONG Jerk Time SHORT INT Move Moment SHORT INT Deceleration Type Parameters Description Position Position increment expressed in drive motor position units Speed Slew speed expressed in drive motor speed units Acceleration deceleration rate expressed in drive motor acceleration units Represents the time interval for acceleration to reach the programmed value It is expressed in drive motor time units Move Moment Defines the moment when the motion is started Specifies the speed profile used when the motion is stopped with TS_Stop vi Acceleration Input Jerk Time Deceleration Type Output Return TRUE if no error FALSE if error Description The function block programs a relative positioning with an S curve shape of the speed This shape is due to the jerk limitation leading to a trapezoidal or triangular profile for the acceleration and an S curve profile for the speed The motion is de
59. Type sets the PT mode absolute or relative In the absolute mode Position Type ABSOLUTE_POSITION each PT point specifies the position to reach The initial position may be either the current position reference TML variable TPOS or a preset value read from the TML parameter PVTPOSO In the relative mode Position Type RELATIVE POSITION each PT point specifies the position increment relative to the previous point Remark The initial position source TPOS or PVTPOSO is set with function TS PTSetup vi The motion is executed e Immediately when Move Moment UPDATE IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of the movement Use the TS Updatelmmediate or the TS UpdateOnEvent functions in order to activate the movement Related functions TS PTSetup vi TS SendPTPoint vi Associated examples Technosoft 2007 34 TML LIB LabVIEW User Manual 3 4 1 16 TS SendPTPoint vi Symbol Position Send Velocity PVT Return Time Point PVT Counter Prototype LONG TS SendPTPoint 12 LONG Position UNSIGNED SHORT INT Time SHORT INT PT Counter Parameters Description Input Position Position at the end of the PT segment expressed in TML position units Time Time interval for the current PT segment expressed in TML time uni
60. W User Manual Example 12 vi 120000 Technosoft 2007 148 TML LIB LabVIEW User Manual 4 13 Example 13 Speed control with external reference This example implements a speed control or position control function of user selection When the user selects Analogue the drive uses the values read from analogue input Reference for positioning With selection Online the drive is programmed to use the reference received online from the PC In the VI front panel select the reference type used and then press the GO button File Edit Operate Tools Browse Window Help efe m loris esse EE Drive status xample Selector Technosoft 2007 149 TML LIB LabVIEW User Manual Example 13 vi Technosoft 2007 150 TML LIB LabVIEW User Manual 4 14 Example 14 Profiled positioning with output port status changing at a given position This example implements a profiled positioning movement and commutes the status of a digital output port of the drive at a given motor position value The VI front panel allows you to setup the parameters of the position profile Example 14 i Diagram File Edit Operate Tools Browse Window Help Technosoft 2007 151 TML_LIB_LabVIEW User Manual Example 14 vi sja eli 100000 Technosoft 2007 152 TML LIB LabVIEW User Manual 4 15 15 Execute a jogging speed motion until
61. able value Set Change Low Level YES to change the level for BufferLow signaling with the value of parameter Low Level Value The buffer empty condition occurs when the buffer is empty and the execution of the last PT point is over When the PT buffer becomes empty the drive motor keeps the position reference unchanged Remarks 3 The PT and PVT modes share the same buffer Therefore the TML parameters and variables associated with the buffer management are the same 4 Both the PT buffer size and its start address are programmable via TML parameters int 0x0864 PVTBUFLEN int 0x0865 Therefore if needed the PT buffer size can be substantially increased Use TS SetlntegerVariable vi to change the PT buffer parameters Each PT point also includes a 7 bit integrity counter The integrity counter value must be incremented by the host by one each time a new PT point is sent to the drive motor If the integrity counter error checking is activated Integrity Checking YES the drive compares its integrity counter value with the one sent with the PT point This comparison is done every time a PT point is received If the values of the two integrity counters do not match the integrity check error is triggered the drive motor sends messages with PVTSTS to the host and the received PT point is discarded Each time a PT point is accepted the integrity counters match or the integrity counter error checking is disabled the drive automatically
62. able vi Associated examples Example 20 Example 24 Example 27 Example 28 Example 34 Example 35 Example 42 Technosoft 2007 90 TML LIB LabVIEW User Manual 3 4 6 5 TS SetFixedVariable vi Symbol i Set Variable Name 4 Rebum Value Var Prototype LONG TS SetFixedVariable 12 CSTR Variable Name DOUBLE Value Parameters Name 7 Description Variable Name Name of the parameter l Value The value to be written Output TRUE if no error FALSE if error Description The function converts the Value to type fixed and writes it in the TML data Variable Name on the active axis The TML data parameter variable or user defined variable is of type fixed 16 bits integer part 16 bits fractional part Remarks 1 The available TML data is configuration dependent and is listed in the variables cfg file 2 The user defined variables are set with EasyMotion Studio prior generating the setup information Related functions 5 SetlntVariable vi TS GetlntVariable vi TS_SetLongVariable vi TS_GetLongVariable vi TS_GetFixedVariable vi Associated examples Example 19 Example 34 Technosoft 2007 91 TML LIB LabVIEW User Manual 3 4 6 6 TS GetFixedVariable vi Symbol Return Variable Name Read Value Prototype LONG TS GetFixedVariable 8 CSTR Variable Name DOUBLE value Parameters Name 7 Description Input Variable Name Name of the parameter Output Read Va
63. age 20 077 of ENDINIT command or Positon wraparound Figure 4 1 Drive status control panel gt Motion Speed Status vi File Edit Operate Tools Browse Window Help 1 13pt Application Font 13pt Application Font 13pt Application Font Time samplings Figure 4 2 Motion speed control panel Technosoft 2007 123 TML LIB LabVIEW User Manual Motion Position Control Panel Motion Position Status vi File Edit Operate Tools Browse Window Help Be 0 000 6 5 6 5 Amplitude counts Time samplings File Edit Operate Tools Browse Window Help m 13pt Application Font 9 Digital Inputs General purpose Feedback AD2 2 24 5 34 5 E 0 Figure 4 4 IO control panel for IBL2403 Technosoft 2007 124 TML_LIB_ LabVIEW User Manual 4 1 Example 1 Profiled positioning movement followed by a speed profile jogging This example implements a relative positioning movement waits until the motion is finished then starts moving the motor with a constant speed The VI front panel allows you to setup the parameters for the position profile and speed profile If an error occurs you ll see the error message in the ERROR text box Remark For a better readability of the other examples the error message field was introduced in the VI screen only for this example You
64. ails the package contents Table 2 1 TML LIB LabVIEW package contents Directory Description TML lib dll TML LIB DLL library file TMLcomm dll TML communication DLL file Ee The PDF file of the TML_LIB user manual this P091 040 UM xxxx PDF document Examples Files Examples Functions GlobalVIs Setups Technosoft 2007 Ex25TML txt TML source file for Example 25 Ex29RAM out COFF file for Example 29 Ex30 out COFF file for Example 30 Ex32 MyCam cam A cam file for example 32 in Technosoft cam file format Ex32 MyCam txt Example diagrams VI functions sub Vis with variables global Setup data directories cam file for example 32 in text file format complete Visual project implementing the examples from Chapter 4 Contains the sub VIs of the library which implement the functions from TML_LIB dll Sub Vis containing the declaration of global variables used in examples Sample setup data of the drives used in examples For your configurations generate the setup data see paragraph 2 3 TML LIB LabVIEW User Manual 2 3 Drive motor setup Before starting to send motion commands from the PC you need to do the drive motor setup according with your application needs For this operation you ll use EasySetUp EasySetUp is an integrated development environment for the setup of Technosoft drives and motors with the drive integrated in the mo
65. aling factors for a specific configuration use e Help Help Topics Setup Data Management Internal Units and Scaling Factors menu command in EasySetUp Help Help Topics Application Programming Internal Units and Scaling Factors menu command in EasyMotion Studio Important The Internal Units and Scaling Factors topic provides customized information function of the application setup If you change the drive the motor technology or the feedback device check again the scaling factors with this command It may show you other relations 3 3 Axis Identification The data exchanged on the communication channel is done using messages Each message contains one TML instruction to be executed by the receiver of the message Apart from the binary code of the TML instruction attached any message includes information about its destination an axis drive motor or group of axes This information is grouped in the Axis Group ID Code Each drive motor has its own 8 bit Axis ID and Group ID Remarks 1 The Axis ID of a drive motor must be unique and is set during the drive motor setup phase with EasySetUp 2 The Axis ID and Group ID of a drive motor are stored in TML variable Use TS GetlntVariable vi to read the value of the Axis ID and Group ID The Group ID represents a way to identify a group of axes for a multicast transmission This feature allows to send a command simultaneously to several axes for example to start or stop t
66. ams an absolute positioning with an S curve shape of the speed This shape is due to the jerk limitation leading to a trapezoidal or triangular profile for the acceleration and an S curve profile for the speed The motion is described through Position parameter for position to reach Speed slew speed Acceleration for acceleration deceleration rate and Jerk Time The position to reach can be positive or negative The Speed Acceleration and Jerk Time can be only positive An S curve profile must begin when load motor is not moving During motion the parameters should not be changed Therefore when executing successive S curve commands you should wait for the previous motion to end before setting the new motion parameters and starting next motion When the motion is stopped with function TS_Stop vi the deceleration phase can be done in 2 ways e Smooth using an S curve speed profile when Deceleration Type S CURVE SPEED PROFILE e Fast using a trapezoidal speed profile when Deceleration TRAPEZOIDAL SPEED PROFILE The motion can be executed e Immediately when Move Moment UPDATE IMMEDIATE e When a programmed event occurs if MoveMoment UPDATE ON EVENT e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of Technosoft 2007 14 TML LIB LabVIEW User Manual the movement Use the TS_Updatelmmediate vi or the
67. bsolute mode each PT point specifies the position to reach The initial position may be either the current position reference TML variable TPOS Absolute Position Source 1 or a preset value read from the TML parameter PVTPOSO Absolute Position Source 0 In the relative mode each PT point specifies the position increment relative to the previous point In both cases the time is relative to the previous point i e represents the duration of a PT segment For the first PT point the time is measured from the starting of the PT mode Remark The PT mode absolute or relative is set with function TS_SendPTFirstPoint vi Technosoft 2007 32 TML_LIB_LabVIEW User Manual Each time when the drive receives a new PT point it is saved into the PT buffer The reference generator empties the buffer as the PT points are executed The PT buffer is of type FIFO first in first out The default length of the PT buffer is 7 PT points Each entry in the buffer is made up of 9 words so the default length of the PVT buffer in terms of how much memory space is reserved is 63 8Fh words The drive motor automatically sends messages to the host when the buffer is full low or empty The messages contain the PVT status TML variable PVTSTS The buffer full condition occurs when the number of PVT points in the buffer is equal with the buffer size The buffer low condition occurs when the number of PVT points in the buffer is less or equal with a programm
68. ce followed by a movement in the opposed direction over the same relative distance with a different jogging speed The movement is repeated for a given number of times The VI front panel allows you to setup the parameters of the first and second speed profiles gt Example 11 vi Diagram File Edit Operate Tools Browse Window Help FEET E ES a Motion Speed SOON OO 00 000 000000 0 00000 000 Technosoft 2007 145 TML LIB LabVIEW User Manual Example 11 vi oj em 200000 Technosoft 2007 146 TML_LIB_LabVIEW User Manual 4 12 Example 12 Speed profile followed by profiled positioning at a given speed This example implements a jogging movement until a given speed reference when an absolute positioning is started During this positioning motion the position profile is changed at a given value of the reference The VI allows you to setup the parameters of the speed profile the first position profile and the second position profile Example 12 vi Diagram File Edit Operate Tools Browse Window Help same LES Drive I UNS i EI i CE Lt n n n n n n ort ut 4 0 7 yp oooo ON OO ONONORC Technosoft 2007 147 TML LIB LabVIE
69. ction sets an event when the motion is completed You can use for example this event to start your next move only after the actual move is finalized The motion complete condition is set in the following conditions e During position control o If UPGRADE 11 1 when the position reference arrives at the position to reach commanded position and the position error remains inside a settle band for a preset stabilize time interval The settle band is set with TML parameter POSOKLIM and the stabilize time with TML parameter TONPOSOK This is the default condition o If UPGRADE 11 0 when the position reference arrives at the position to reach commanded position e During speed control when the speed reference arrives at the commanded speed The motion complete condition is reset when a new motion is started i e when the update command UPD is executed Remark 1 Use function TS SetlntVariable vi to change the settle band and or the stabilize time 2 In case of steppers controlled open loop the motion complete condition for positioning is always set when the position reference arrives at the position to reach independently of the UPGRADE 11 status If the Wait Event WAIT EVENT the function will continuously test the status of the drive event and will wait until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an inter
70. e generator empties the buffer as the PVT points are executed The PVT buffer is of type FIFO first in first out The default length of the PVT buffer is 7 PVT points Each entry in the buffer is made up of 9 words so the default length of the PVT buffer in terms of how much memory space is reserved is 63 3Fh words The drive motor automatically sends messages to the host when the buffer is full low or empty The messages contain the PVT status TML variable PVTSTS The buffer full condition occurs when the number of PVT points in the buffer is equal with the buffer size The buffer low condition occurs when the number of PVT points in the buffer is less or equal with a programmable value The level for BufferLow signaling is updated when Change Low Level YES with the value of parameter Low Level Value The buffer empty condition occurs when the buffer is empty and the execution of the last PVT point is over When the PVT buffer becomes empty the drive motor e Remains in PVT mode if the velocity of last PVT point executed is zero and waits for new points to receive e Enters in quick stop mode if the velocity of last PVT point executed is not zero Therefore a correct PVT sequence must always end with a last PVT point having velocity zero Remarks 1 The PVT and PT modes share the same buffer Therefore the TML parameters and variables associated with the buffer management are the same 2 Both the PVT buffer size and its start address a
71. e Archives folder from EasyMotion Studio EasySetUp installation folder The drive s motors setup data are declared in the PC application with function TS LoadSetup vi The subVI must be called for each configuration setup used Technosoft 2007 5 TML LIB LabVIEW User Manual 4 Setup axes Each axis defined at PC level requires the setup information The configuration setup is associated to an axis with subVI TS SetupAxis vi 5 Select the active axis group The messages sent from the PC address to one axis Use subVI TS SelectAxis vi to choose the messages destination All further function calls which send TML messages on the communication channel will address the messages to this active axis 6 Program the motion for current axis Use the TML LIB LabVIEW functions to program the motions required Technosoft 2007 6 TML LIB LabVIEW User Manual 3 TML LIB LabVIEW description 3 1 Basic concept The Technosoft intelligent drives are programmable using the Technosoft Motion Language TML TML consists of a high level set of codes allowing the user to parameterize and execute specific motion operations TML allows to e Configure the motion mode profiles contouring gearing in multiple axes structures etc e Detect specifically treat external signals as limit switches captures e Execute homing sequences e Setup start specific action on pre defined motion events e Synchronize multiple axes structures by sending gro
72. e and allows the motor to move e When TS Stop vi is executed it will automatically stop any TML program execution to avoid overwriting the command from the TML program e During abrupt stops an important energy may be generated If the power supply can t absorb the energy generated by the motor it is necessary to foresee an adequate surge capacitor in parallel with the drive supply to limit the over voltage Related functions TS QuickStopDecelerationRate vi Associated examples Example 10 Example 13 Example 16 Example 18 Example 21 Example 22 Example 24 Example 25 Example 26 Example 27 Example 29 Example 30 Example 31 Example 32 Example 34 Example 40 Technosoft 2007 52 TML LIB LabVIEW User Manual 3 4 2 5 TS SetPosition vi Symbol Xs Set Position free Return LONG TS SetPosition 4 LONG Position Prototype Parameters Name Description Input The value used to set the position expressed in TML position units Output return TRUE if no error FALSE if error Description The function sets changes the referential for position measurement by changing simultaneously the load position TML variable APOS and the target position values TML variable APOS while keeping the same position error Future motion commands will then be related to the absolute value as updated at this point to Position Related functions Associated examples Example 6 Example 12 Example 14 Example 28 E
73. e position reference gives the new slave position reference The gear ratio is the result of the division Numerator Denominator Numerator is a signed integer while the Denominator is unsigned integer The Numerator sign indicates the direction of movement positive same as the master negative reversed to the master Numerator and Denominator are used by an automatic compensation procedure that eliminates the round off errors which occur when the gear ratio is an irrational number like 1 3 Slave 1 Master 3 The slave can get the master position in two ways 1 a communication channel Enable Slave SLAVE COMMUNICATION CHANNEL from a drive motor set as master with function block TS_SetGearingMaster 2 Via an external digital reference of type pulse amp direction or quadrature encoder Enable Slave SLAVE_2ND_ENCODER Remark Set Enable Slave SLAVE_NONE if you want to program the motion mode parameters without enabling it Technosoft 2007 37 TML LIB LabVIEW User Manual When master position is provided via the external digital interface the slave computes the master position by counting the pulse amp direction or quadrature encoder signals The initial value of the master position is set by default to 0 Use function TS SetLongVariable to change its value by writing the desired value in the TML variable APOS2 You can smooth the slave coupling with the master by limiting the maximum acceleration on
74. e test loop after a given time period At event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO_STOP if you do not want to stop the motion at event occurrence Related functions TS_CheckEvent and all other SetEvent functions Associated examples Example 11 Example 12 Example 14 Technosoft 2007 60 TML_LIB_LabVIEW User Manual 3 4 34 TS SetEventOnLoadPosition vi Symbol Enable Stop PasitionType ak Position Return Podtion Over Wait Event Prototype LONG TS SetEventOnLoadPosition 20 LONG Position SHORT INT Over SHORT INT Wait Event SHORT INT Enable Stop Parameters Description Position Type Specifies the load position type absolute or relative Positi The position value that triggers the event expressed in TML osition cae Input position units _ Specifies the condition tested Wait Event Specifies if the function waits the event occurrence Enable Stop Stop the motion when at event occurrence Output Description It allows you to program an event function of load position The events can be when the absolute Position Type ABSOLUTE_POSITION or relative Position Type ABSOLUTE_RELATIVE load position is equal or over under Position The absolute load position is the measured position of the load The relative position is the load displacement from the beginning of the actual movement The condition monitored for the event is
75. ectory Example Files of the TML_LIB_LabView installation directory gt Example 25 vi Diagram SiE ni x File Edit Operate Tools Browse Window Help x rec Application Font da Technosoft 2007 173 TML LIB LabVIEW User Manual Example 25 vi TI Technosoft 2007 174 TML LIB LabVIEW User Manual 4 26 26 Positioning command to a group of axes This example shows how to send command s to a group of drives The example programs a group of drives to execute a relative positioning The group has two drives with Axis ID 1 respectively Axis ID 2 and are connected in a CAN bus network The drive with Axis ID 1 is connected to PC via RS232 link The VI front panel allows you to setup the parameters of the position profile Ib Example 26 vi Diagram x File Edit Operate Tools Browse Window Help x P 9721 bo ro toon Font b 0000000 te 0 2 vp e20 OO ON Technosoft 2007 175 TML_LIB_LabVIEW User Manual Example 25 vi Technosoft 2007 176 TML LIB LabVIEW User Manual 4 27 Example 27 Jogging motion until the index capture is detected then position on index This example programs an axis to move with a jog speed until index capture is detected When the index input transition is detected the motor is stopped and then positioned to the captured position If the capture index is not d
76. ecuting the local TML code Related functions TS DownloadProgram vi TS CALL Label vi TS CancelableCALL vi TS CancelableCALL Label vi Associated examples Example 30 Technosoft 2007 74 TML LIB LabVIEW User Manual 3 4 4 4 TS CALL Label vi Symbol Function Name He Return Prototype LONG TS CALL Label 4 CSTR Function Name Arguments Name Description Input Name of the TML function Output TRUE if no error FALSE if error Description The function commands the active axis to execute the TML function Function Name The TML functions can be stored in the drive motor EEPROM memory or in the TML program memory The function execution ends when the TML instruction RET is encountered The string Function Name must be a valid TML function name defined in EasyMotion Studio prior generating the setup information Prior using the TS CALL Label vi function you have to e Create atleast one TML function using EasyMotion Studio e Generate the configuration setup e Download the TML code in the drive motor memory with EasyMotion Studio or function TS DownloadProgram Remark 1 For more details about drive motor memory structure see the Memory Map topic from EasyMotion Studio help 2 During the execution of a local TML program on the drive any TML command sent on line from the PC is treated with higher priority and will be executed before executing the local TML code Related functions TS DownloadP
77. ed event occurs If the event does not occur due to an error then the PC program will not return any longer from the event function and will be blocked If such a case appears use the approach from this example instead i e program an event without waiting for it to occur inside the event programming function Instead check the event using the TS_CheckEvent function as well as perhaps other drive variables etc Thus you can decide if an error has occurred and the PC program will not be blocked anymore The VI front panel allows you to set the parameters for positioning profile and speed profile gt Example 24 vi Diagram iC xl 24 File Edit Operate Tools Browse Window Help E N 9 mn P ba SP 27 13pt Application Font 1 Technosoft 2007 171 TML_LIB_LabVIEW User Manual Example 24 vi Technosoft 2007 172 TML LIB LabVIEW User Manual 4 25 25 Movement as defined in an external file containing TML source code This example opens an external TML source code file compile each instruction and send it on line to the drive Such an approach can be very useful in order to send a fixed sequence of several TML instructions eventually implementing some specific functionality The application requires a file containing valid TML source code For this example you can use the sample file EX25TML txt provided with the library The file is installed in the sub dir
78. eference Type DOUBLE Limit Variation DOUBLE Initial Value SHORT INT Move Moment Parameters Name Description Reference Type Specifies how the analogue signal is interpreted Limit Variation Speed acceleration limit value for position speed control expressed in Input drive motor internal units Initial Value The initial value of the reference received on line Move Moment Defines the moment when the motion is started Output Return TRUE if no error FALSE if error Description The function programs the drive motor to work with a reference received via a communication channel from an external device Depending on the control mode chosen the external reference is saved in one of the TML variables e EREFP which becomes the position reference if the Reference Type REFERENCE_POSITION e EREFS which becomes the speed reference if the Reference Type REFERENCE_SPEED e EREFT which becomes the torque reference if the Reference Type REFERENCE_TORQUE e EREFV which becomes voltage reference if the Reference REFERENCE_VOLTAGE Remark During the drive motor setup in the Drive setup dialogue you have to 1 Select the appropriate control type for your application in Drive Setup dialogue 2 Perform the tuning of controllers associated with the selected control mode In position control you can limit the maximum speed at sudden changes of the position reference and thus to reduce the mechanical shocks In speed contro
79. efore any attempt to send messages to that group Remarks Use function TS LoadSetup vi to obtain the configuration setup identifier Related functions TS LoadSetup vi TS SetupAxis vi TS SetupBroadcast vi Associated examples all examples Technosoft 2007 112 TML LIB LabVIEW User Manual 3 4 10 4 TS SetupBroadcast Symbol Setup Setup Index Broad res Return Prototype LONG TS SetupBroadcast 4 SHORT INT Setup Index Parameters Name _ Description Input Setup Index Name of the data file storing the setup axis information Output TRUE if no error FALSE if error Description The function sets the configuration setup used by TML_LIB when issuing broadcast commands The configuration setup is identified through Setup Index Remarks Use function TS_LoadSetup vi to obtain the configuration setup identifier Related functions TS LoadSetup vi TS_SetupAxis vi TS_SetupGroup vi Associated examples Technosoft 2007 113 TML_LIB_LabVIEW User Manual 3 4 10 5 TS Drivelnitialization vi Symbol Prototype LONG TS Drivelnitialization 0 void Parameters Name Description Inpt Output TRUE if no error FALSE if error Description The function initializes the active axis It must be executed when the drive motor is powered or after a reset with function TS Reset vi The function call should be placed after the functions TS SetupAxis vi TS SelectAxis vi and befo
80. el where the jump is made Output TRUE if no error FALSE if error Description The function commands the active axis to execute the TML code beginning from label Label until TML instruction END is encountered The TML code can be stored in the drive motor EEPROM memory or in the TML program memory The selection of the memory type used for the program is done from Memory Settings The string Label must be a valid TML label defined in EasyMotion Studio prior generating the setup information Prior calling the TS GOTO Label vi function you have to e Create a TML sequence using EasyMotion Studio The commands sequence must start with Label declaration e Select in the Memory Setting dialogue from where you want to run the TML program TML program or EEPROM e Create the COFF file out with the menu command Application Motion Build e Generate the configuration setup with the menu command Application Export to TML lib to include the new Label in the setup data e Download the TML code in the drive motor memory with EasyMotion Studio or with function TS DownloadProgram vi Remark 1 For more details about drive motor memory structure see the Memory Map topic from EasyMotion Studio help 2 During the execution of a local TML program on the drive any TML command sent on line from the PC is treated with higher priority and will be executed before executing the local TML code Related functions TS DownloadProgram vi
81. ent Defines the moment when the settings are activated Offset From Master Cam table offset expressed in TML position units Mult Input Factor CAM table input scaling factor Mult Output Factor CAM table output scaling factor Output Description The function block programs the active axis to operate as slave in electronic camming relative mode The slave drive motor executes a cam profile function of the master drive motor position The cam profile is defined by a cam table a set of X Y points where X is cam table input i e the master position and Y is the cam table output i e the corresponding slave position Between the points the drive motor performs a linear interpolation In electronic camming relative mode the output of the cam table is added to the slave actual position The cam tables are previously stored in drive motor EEPROM memory with function TS_CamDownload vi After download previously starting the camming slave you have to initialize the cam table i e to copy it from EEPROM memory to RAM memory Use function TS_Camlnitialization vi to initialize a cam table The active cam table is selected through parameter Run Address The Run Address must contain the drive motor RAM address where the cam table was copied The slave can get the master position in two ways 1 Via a communication channel Enable Slave SLAVE COMM CH from a drive motor set as master with function block TS SetGearingMaster 2 Viaan external digital
82. ent to occur If the parameter Wait Event NO WAIT EVENT you can check if the event occurred using the TS_CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period At the event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO_STOP if you do not want to stop the motion at event occurrence Related functions TS CheckEvent vi and all other SetEvent functions Associated examples Example 12 Example 32 Technosoft 2007 65 TML LIB LabVIEW User Manual 3 4 3 9 TS SetEventOnSpeedRef vi Symbol Speed et Over Eventl Return Wait Event CE Enable Stop Prototype LONG TS SetEventOnSpeedRef 20 DOUBLE Speed SHORT INT Over SHORT INT Wait Event SHORT INT Enable Stop Parameters Description Speed The speed reference value that triggers the event expressed in TML speed units Input Over Specifies the condition tested Wait Event Specifies if the function waits the event occurrence Enable Stop Stop the motion when at event occurrence Output Return TRUE if no error FALSE if error Description It allows you to program an event function of speed reference Setting this event you can detect when the speed reference is over Over OVER or under Over BELOW the value of parameter Speed If the parameter Wait Event WAIT_EVENT the function tests continuously the even
83. ents a repetitive position profile movement The motion is repeated for a given number of times each time when a digital input port is set to low level Between the motions while waiting for a new start the motor current is set to a low stand by value At motion start when the digital input port level is set to low the current is set to a run time value Each time the position is doubled as compared with the previous value Remark This example can be used only with stepper open loop configuration The VI front panel allows you to setup the parameters of the position profile E Example 08 vi Diagram File Edit Operate Tools Browse Window Help 281 gt 1 tirs Sese 55 TS SetupInput vi INPUT 37 EA Motion Speed dal 4 0 4 vb WAIT EVENT TS SetEventOnMotionComplete vi STOP pDougngugguguuoguugoguguguuguuguuuuuuguuguguuuuuuuuuuuuuuuuuuuuuuu Technosoft 2007 139 TML LIB LabVIEW User Manual Example 08 vi BASN Technosoft 2007 140 TML_LIB_LabVIEW User Manual 4 9 Example 9 Move to the positive limit switch reverse to the negative limit switch This example activates the limit switches of the drive and then implements a jogging movement in the positive direction until the positive limit switch is reached
84. er SetEvent functions Associated examples Example 27 Technosoft 2007 68 TML LIB LabVIEW User Manual 3 4 3 12 TS SetEventOnLimitSwitch vi Limit Switch Type Transition Type El Return Wait Event Enable Stop LONG TS SetEventOnLimitSwitch 16 SHORT INT Limit Switch Type SHORT INT Transition Type SHORT INT Wait Event SHORT INT Enable Stop Symbol Prototype Parameters Description Limit Switch Type Specifies the limit switch monitored for transition Input Transition Type Specifies the input transition monitored Wait Event Specifies if the function waits the event occurrence Enable Stop Stop the motion when at event occurrence Output Return TRUE if no error FALSE if error Description It allows you to program an event function of drive motor limit switch inputs The event is set e when a transition occurs on limit switch negative if parameter Limit Switch Type LSW_NEGATIVE e when a transition occurs on limit switch negative if parameter Limit Switch Type LSW_POSITIVE You can monitor the limit switch transition low to high when Transition Type TRANSITION LOW TO HIGH the transition high to low when Transition Type TRANSITION HIGH TO LOW If the parameter Wait Event WAIT EVENT the function tests continuously the event status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the prog
85. et Out Value Prototype LONG _TS_SetOutput 8 UNSIGNED CHAR Port Number UNSIGNED CHAR Out Value Parameters Name Description Port Number Output port number to be written Input Out Value Output status value to be set Output TRUE if no error FALSE if error Description The function set resets the status of digital output port Port Number of the drive motor The port status IO LOW or IO HIGH is set corresponding to the value of the Out Value parameter If the IO port selected may also be used as input or an output prior to call TS SetOutput vi you need to call TS SetupOutput vi and configure IO port as output Remark Depending on the firmware version programmed on the drive motor FAxx or FBxx the digital inputs and outputs are numbered as follows from 0 to 39 for firmware FAxx The list is unordered for example a product with 4 inputs and 4 outputs can use the inputs 36 37 38 and 39 and the outputs 28 29 30 and 31 e From 0 to 15 for firmware version FBxx The list is ordered for example a product with 5 inputs and 3 outputs can use the inputs 0 1 2 3 and 4 and the outputs 0 1 and 2 Each intelligent drive motor has a specific number of inputs and outputs therefore only a part of the maximum number of l Os is used Related functions TS SetupOutput vi TS Setuplnput vi TS Getlnput vi Associated examples Example 14 Represents the firmware versions FOOOH FO20H F005
86. etected and the position limit is reached the motor is stopped Power on the drive modify the speed profile parameter in the VI dialog rotate manually the motor shaft then run the application gt Example 27 vi Diagram File Edit Operate Tools Browse Window Help 0 10 UPDATE_IMMEDIATE Technosoft 2007 177 TML_LIB_LabVIEW User Manual Example 27 vi Technosoft 2007 178 TML LIB LabVIEW User Manual 4 28 Example 28 Speed jogging until home found position to home and set position to zero This example can be used to detect the system home position and to set the absolute position to 0 at the home point It moves the motor at constant speed until the home capture is detected Then the motor is positioned at the home position and the absolute and the reference position values are reset First modify the speed profile parameter and then run the application While the application is running set to low the IN 38 digital input in order to generate the home position capture Ib Example 28 vi Diagram File Edit Operate Tools Browse Window Help e e ss Drive status Technosoft 2007 179 TML LIB LabVIEW User Manual Example 28 vi Technosoft 2007 180 TML LIB LabVIEW User Manual 4 29 Example 29 Download COFF format file amp send a positioning command on line This example can be used to download a COFF
87. eturn TRUE if no error FALSE if error Description It allows you to program an event function of drive motor general purpose digital input assigned as home input The home input is specific for each product and based on the setup data The event is set when a transition occurs on home input You can monitor when the home input goes high Status IO HIGH or the home input goes low Status IO LOW If the parameter Wait Event WAIT EVENT the function tests continuously the event status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an internal loop of the TS SetEventOnHomelnput vi function waiting for the event to occur If the parameter Wait Event NO WAIT EVENT you can check if the event occurred using the TS CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period At the event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO STOP if you do not want to stop the motion at event occurrence Related functions TS CheckEvent vi and all other SetEvent functions Associated examples Example 28 Example 38 Example 39 Technosoft 2007 71 TML LIB LabVIEW User Manual 3 4 4 TML jumps and function calls 3 4 41 TS GOTO vi Symbol Address JOO Return LONG _TS_GO
88. f the buffer is set with parameter Size The data is stored on the drive motor starting with Address The Address can belong to drive motor EEPROM memory or TML data memory Remark For details about drive motor memory structure see the Memory Map topic from EasyMotion Studio on line help Related functions TS GetBuffer vi Associated examples Example 20 Example 39 Technosoft 2007 93 TML LIB LabVIEW User Manual 3 4 6 8 TS GetBuffer vi Symbol Address Return Array Values Type Array Values Size Prototype LONG TS GetBuffer 12 UNSIGNED SHORT INT Address LONG Array Values SHORT INT Size Parameters Name Description Input Address Start address from where the data will be uploaded Array Values Pointer to the array where the uploaded data will be stored Size The number of words to upload Output return TRUE if no error FALSE if error Description The function uploads a data buffer from the active axis The start address of the buffer is set with parameter Address and its length is Size The Address can belong to drive motor EEPROM memory or TML data memory The parameter Array Values points to the beginning of the array where the uploaded data is stored Remark For details about drive motor memory structure see the Memory Map topic from EasyMotion Studio on line help Related functions TS SetBuffer vi Associated examples Example 20 Example 39 Technosoft 2007 94 TML LIB LabVIEW
89. for firmware FAxx The list is unordered for example a product with 4 inputs and 4 outputs can use the inputs 36 37 438 and 39 and the outputs 28 29 30 and 31 e From 0 to 15 for firmware version FBxx The list is ordered for example a product with 5 inputs and 3 outputs can use the inputs 0 1 2 3 and 4 and the outputs 0 1 and 2 Each intelligent drive motor has a specific number of inputs and outputs therefore only a part of the maximum number of I Os is used Related functions TS Setuplnput vi TS SetupOutput vi T8 SetOutput vi Associated examples Example 10 Example 15 Example 16 Example 18 Example 30 Represents the firmware versions FOOOH FO20H F005H F900H or later on Technosoft drives motors IDM240 IDM640 IDS240 IDS640 ISCM4805 ISCM8005 IBL2403 IM23x models IS and MA Represents the firmware versions F500A or later on Technosoft drives IDM240 CANopen IDM640 CANopen IDS640 CANopen Technosoft 2007 80 TML_LIB_LabVIEW User Manual 3 4 5 3 TS SetupOutput vi Symbol Port Number Seup Return Prototype LONG _TS_SetupOutput 4 UNSIGNED CHAR Port Number Parameters Name Input Port Number Port number to be set as output Output TRUE if no error FALSE if error Description The function configures the digital I O port Port Number of the drive motor as an output port Use the function only if the selected output may also be used as an input C
90. ges its status moment when the motor begins an absolute positioning When the motion is complete the state of several outputs is set IE Example 37 vi Diagram File Edit Operate Tools Browse Window Help e es es ee NH B NH NH Technosoft 2007 198 TML LIB LabVIEW User Manual Example 37 vi em Technosoft 2007 199 TML LIB LabVIEW User Manual 4 38 38 Positioning when an event on home input occurs The example shows how to program a positioning triggered by an event on home input The event is set when the home input goes low Example 38 i Diagram oj x File Edit Operate Tools Browse Window Help eed feit Technosoft 2007 200 TML LIB LabVIEW User Manual Example 38 vi Technosoft 2007 201 TML LIB LabVIEW User Manual 4 39 Example 39 Write read in the drive memory The example writes reads a data block in the drive EEPROM memory The write operation is verified with a checksum After the homing procedure the drive makes a positioning with the position command read from the EEPROM Example 39 vi Diagram File Edit Operate Tools Browse Window Help Drive status E Technosoft 2007 202 TML LIB LabVIEW User Manual Example 39 vi gt S m Technosoft 2007 203 TML LIB LabVIEW User Manual 4 40 Example 40 View binary code of TML command The example
91. gger Type Prototype Parameters Name Description The address of the logger buffer in drive motor memory where Input Logger Address data will be stored during logging Logger Type Specifies when the logging occurs Output TRUE if no error FALSE if error Description The function starts the data logger on the active axis The function may be called only after the initialization of the data logger with the TS_SetupLogger vi function Use the parameter Logger Type to set if the data logging process must be done in the slow control loop Logger LOGGER_SLOW or in the fast control loop Logger Type LOGGER_FAST Related functions TS_SetupLogger vi TS_UploadLoggerResults vi TS_CheckLoggerStatus vi Associated examples Example 33 Technosoft 2007 106 TML_LIB_LabVIEW User Manual 3 4 9 3 TS CheckLoggerStatus vi Symbol Return L Add ogger Address Logger Status Prototype LONG TS CheckLoggerStatus 8 UNSIGNED SHORT INT Logger Address UNSIGNED SHORT INT Logger Status Parameters Name Description Input Logger Address The address of the logger buffer in drive motor memory where data will be stored during logging Number of points still remaining to capture if it is 0 the logging is completed Return TRUE if no error FALSE if error Logger Status Output Description The function checks the data logger status on the active axis Use this function in
92. gram e Generate the configuration setup for TML_LIB with menu command Application Export to TML_LIB You are now prepared to build your PC application which will call one of the homing methods from the drive memory The idea is that you ll set up from the PC some of the parameters needed during the homing procedure then you ll call one of the homing functions stored on the drive and eventually you ll test the status of the homing process until it will be finished Technosoft 2007 191 TML LIB LabVIEW User Manual gt Example 34 vi Diagram File Edit Operate Tools Browse Window Help m fooler ox ist appicaton font dE Homing Status The time For homing process elapsed HE Press OK button to end the Example 0 055 4 Inoagugugoouguuuuuugduturt Drive status 120000000001 Init Comm Technosoft 2007 192 TML_LIB_LabVIEW User Manual Example 34 vi BSI Homingl7 Technosoft 2007 193 TML LIB LabVIEW User Manual 4 35 35 Positioning with S Curve profile for speed speed jogging The example shows how to program a relative position followed by an absolute positioning The speed has an S Curve shape for both motions The VI front panel allows you to set the parameters for the relative and absolute positioning ample 35 vi Diagram
93. he axes motion in the same time When a function block sends a command to a group all the axes members of this group will receive the command For example if the axis is member of group 1 and group 3 it will receive all the messages that in the group ID include group 1 and group 3 Remark A drive motor belongs by default to the group ID 1 Each axis can be programmed to be member of one or several of the 8 possible groups Technosoft 2007 8 TML LIB LabVIEW User Manual Table 3 1Definition of the groups 0000 00015 0000 00100 0000 01005 0000 10006 0001 00005 0010 00000 0100 00000 128 1000 00000 16 32 64 ML LEE M MT 1 2 3 4 5 6 7 8 3 4 Functions descriptions The section presents the functions implemented in the TML LIB LabVIEW library The functions are classified as follows Motion programming functions for motion programming on the selected axis Motor commands functions to enable disable the motor power stage start stop the motion change the value of the motor position and current Events functions for events programming and test TML jumps and function calls functions which allows you to execute code downloaded in the drive motor memory handling functions for read write operations with drive motor I O ports Data transfer functions for read write operations from to the drive motor memory Drive motor monitoring functions fo
94. heck the drive motor user manual to find what outputs are available Do this operation only once first time when you use the output If the drive motor has the outputs separated from the inputs i e none of the output line can be used as an input you don t have to use the function Remark Depending on the firmware version programmed on the drive motor FAxx or FBxx the digital inputs and outputs are numbered as follows from 0 to 39 for firmware The list is unordered for example a product with 4 inputs and 4 outputs can use the inputs 36 37 38 and 39 and the outputs 28 29 30 and 31 e From 0 to 15 for firmware version FBxx The list is ordered for example a product with 5 inputs and 3 outputs can use the inputs 0 1 2 3 and 4 and the outputs 0 1 and 2 Each intelligent drive motor has a specific number of inputs and outputs therefore only a part of the maximum number of I Os is used Related functions TS Getlnput vi TS SetupOutput vi TS_SetOutput vi Associated examples Example 14 Represents the firmware versions FOOOH FO20H F005H F900H or later on Technosoft drives motors IDM240 IDM640 IDS240 IDS640 ISCM4805 ISCM8005 IBL2403 IM23x models IS and Represents the firmware versions F500A or later Technosoft drives IDM240 CANopen IDM640 CANopen IDS640 CANopen Technosoft 2007 81 TML LIB LabVIEW User Manual 3 4 5 4 TS SetOutput vi Symbol Port Number S
95. iable Name on the active axis The TML data parameter variable or user defined variable is of type long 32 bit Remarks 3 The available TML data is configuration dependent and is listed in the variables cfg file 4 The user defined variables are set with EasyMotion Studio prior generating the setup information Related functions 5 GetlntVariable vi TS SetintVariable vi TS_GetLongVariable vi TS SetFixedVariable vi TS GetFixedVariable vi Associated examples Example 20 Example 34 Technosoft 2007 89 TML LIB LabVIEW User Manual 3 4 6 4 TS GetLongVariable vi Symbol Return Yariabl ahia Read Yalue Prototype LONG _TS_GetLongVariable 8 CSTR Variable Name LONG Read Value Parameters Name Description Input Name of the parameter Output Read Value Pointer to the variable where the parameter value is stored Return TRUE if no error FALSE if error Description The function reads the value of TML data Variable The TML data parameter variable or user defined variable is of type long 32 bit The value read is saved in the variable pointed by Read Value Remarks 1 The available TML data is configuration dependent and is listed in the variables cfg file 2 The user defined variables are set with EasyMotion Studio prior generating the setup information Related functions TS SetlntVariable vi TS SetLongVariable vi TS SetFixedVariable vi TS GetlntVariable vi TS GetFixedVari
96. if no error FALSE if error Description The function associates a configuration setup to the drive motor having Axis ID The configuration setup is identified through Setup Index The function must be called for each axis of the motion system only once in your program in the initialization part before any attempt to send messages to that axis Remarks 1 The Axis ID parameter must be identical with the value set during drive motor setup 2 Usefunction TS LoadSetup vi to obtain the configuration setup identifier Related functions TS LoadSetup vi T8 SetupGroup vi TS SetupBroadcast vi Associated examples all examples Technosoft 2007 111 TML LIB LabVIEW User Manual 3 4 10 3 TS SetupGroup vi Symbol Group ID Setup Return Setup Index Group Prototype LONG TS SetupGroup 28 UNSIGNED CHAR Group ID SHORT INT Setup Index Arguments Name Description Group ID Group ID number It must be a value between 1 and 8 Input Setup Index Name of the data file storing the setup axis information Output TRUE if no error FALSE if error Description The function associates to the group of drives motors a configuration setup identified through Setup Index The configuration setup is used by TML LIB when sends commands towards axes that have the Group ID The function must be called for each group defined in the motion system only once in your program in the initialization part b
97. in a PLC application based on one of the IEC 61136 standard languages 4 Combine option 1 with options 2 or 3 to really distribute the intelligence between the master host and the drives motors in complex multi axis applications Thus instead of trying to command each step of an axis movement you can program the drives motors using TML to execute complex tasks and inform the master when these are done TML LIB LabVIEW is part of option 2 a collection of functions allowing you to implement motion control applications on a PC computer The link between the Technosoft drives motors and the PC can be done via serial link via CAN bus using a CAN interface or via Ethernet using an adapter bridge between Ethernet and RS 232 Realized as a collection of high level functions the library allows you to focus on the main aspects related to your application specific implementation and to simply use the drive and execute motion commands by calling appropriate functions from the library This manual presents how to install and use the components of the TML LIB LabVIEW library version 2 0 Remarks e Option 4 requires using EasyMotion Studio instead of EasySetUp With EasyMotion Studio you can create high level motion functions in TML to be called from your PC e EasyMotion Studio is also recommended if your application includes a homing as it comes with 32 predefined homing procedures to select from with possibility to adapt them Technosof
98. increments its internal integrity counter The default value of the internal integrity counter after power up is 0 Set Change PT Counter YES to change the value of integrity counter with PT Counter Value parameter The integrity counter checking is disabled when parameter Integrity Checking NO Related functions 5 SendPTFirstPoint vi TS SendPTPoint vi Associated examples Technosoft 2007 33 TML_LIB_LabVIEW User Manual 3 4 1 15 TS SendPTFirstPoint vi Symbol Reference Base Pasition PT Counter Position Type Initial Position Move Moment Prototype LONG _TS SendPTFirstPoint 28 LONG Position WORD Time SHORT PT Counter SHORT Position Type LONG Initial Position SHORT Move Moment SHORT Reference Base Arguments Description Position Position value for first PT point expressed in TML position units Time Time interval of the PT segment expressed in TML time units PT Counter Integrity counter for first PT point Position Type Specifies the type of PT mode Input Initial Position The initial position at the start of an absolute PT movement Move Moment Defines the moment when the motion is started Specifies how the motion reference is computed from actual values of Reference Base position and speed reference or from actual values of load motor position and speed Output Description The function sends the first PT point and activates the PT motion mode Parameter Position
99. ion H Notational Conventions This document uses the following conventions Drive motor an intelligent drive or an intelligent motor having the drive part integrated in the motor case TML Technosoft Motion Language IU drive motor internal units ACR 5 bit 5 of ACR data FAxx firmware versions FOOOH F020H F005H F900H or later FBxx firmware versions F500A or later Related Documentation Help of the EasyMotion Studio software platform describes how to use the EasyMotion Studio which support all new features added to revision H of firmware It includes motion system setup amp tuning wizard motion sequence programming wizard testing and debugging tools like data logging watch control panels on line viewers of TML registers parameters and variables etc TML LIB v2 0 User Manual part no P091 040 UM xxxx describes in detail the TML LIB Technosoft Motion Language Library and how to use it to program motion applications in Visual C Visual Basic or Delphi environments MotionChip 11 TML Programming part no P091 055 MCII TML UM xxxx describes in detail TML basic concepts motion programming functional description of TML instructions for high level or low level motion programming communication channels and protocols Also give a detailed description of each TML instruction including syntax binary code and examples MotionChip Configuration Setup part no P091 055 MCI
100. is case the drive motor is programmed with a unique normalized cam profile and the cam table output is multiplied with the relative position command updated at each master cycle Remark If the Offset From Master Mult Input Factor and or Mult Output Factor are set to zero the drive motor will use the value previously set for the parameter or the default value With this option the TML code generated by this function is reduced Related functions TS CamDownload vi TS Camlnitialization vi TS SetCammingSlaveRelative vi SetCammingMaster vi TS SetMasterResolution vi Associated examples Technosoft 2007 43 TML_LIB_LabVIEW User Manual 3 4 1 22 TS CamDownload vi Symbol Cam File Return Load Address Next Load Address Run Address Run Address Prototype LONG TS CamDownload 20 CSTR Cam File UNSIGNED SHORT INT Load Address UNSIGNED SHORT INT Run Address UNSIGNED SHORT INT Next Load Address UNSIGNED SHORT INT Next Load Address Parameters Description Cam File The name of the file containing the cam table description The EEPROM memory address where the cam table is downloaded Input Load Address Run Address The RAM address where the cam table is copied at initialization Next available EEPROM address from where a cam table can be downloaded Next Run Address Next available RAM address where a cam table can be copied Return TRUE if no error FALSE if error Next Load Address Outpu
101. is is set as the synchronization master and the other axes become synchronization slaves To disable the synchronization procedure set the Period to zero The synchronization process is performed in two steps First the master sends a synchronization message to all axes including to itself When this message is received all the axes read their own internal time Next the master sends its internal time to all the slaves which compare it with their own internal time If there are differences the slaves correct slightly their sampling periods in order to keep them synchronized with those of the master As effect when synchronization procedure is active the execution of the control loops on the slaves is synchronized with those of the master within a 10us time interval Due to this powerful feature drifts between master and slave axes are eliminated The Period represents the time interval in internal units between the synchronization messages sent by the master Recommended value is 20ms Related functions TS SetGearingMaster vi TS SetGearingSlave TS SetCammingMaster vi SetCammingSlave vi Associated examples Technosoft 2007 48 TML LIB LabVIEW User Manual 3 4 2 Motor commands 3 4 2 1 TS Power vi Symbol Enable 74F wer ts Return LONG TS Power 4 SHORT INT Enable Prototype Parameters Name Description Input Enables disables the power stage of the active axis Output TRUE if no e
102. ith OK If the communication is established EasySetUp displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started EasySetUp tries to communicate with your drive motor via RS 232 and COM default communication settings If your drive motor is powered and connected to your PC port COM1 via an RS 232 cable the communication can be automatically established Step 3 Setup drive motor Press New button and select your drive motor type Depending on the product chosen the selection may continue with the motor technology for example brushless motor brushed motor or the control mode for example stepper open loop or stepper closed loop and type of feedback device for example incremental encoder SSI encoder This opens 2 setup dialogues for Motor Setup and for Drive setup through which you can configure and parameterize a Technosoft drive motor plus several predefined control panels customized for the product selected In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the Technosoft 2007 4 TML LIB LabVI
103. ition increment to the instantaneous position in the moment when the command is executed In the additive mode the position to reach is computed by adding the position increment to the previous position to reach independently of the moment when the command was issued The additive mode is activated with Additive IsAdditive The motion is executed e Immediately when Move Moment UPDATE_IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT Technosoft 2007 12 TML LIB LabVIEW User Manual e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of the movement Use the TS Updatelmmediate vi or the TS UpdateOnEvent vi functions in order to activate the movement Set Reference Base FROM REFERENCE if you want the reference generator to compute the motion profile starting from the actual values of the position and speed reference Use this option for example if successive standard relative moves must be executed and the final target position should represent exactly the sum of the individual commands Set Reference Base FROM MEASURE if you want the reference generator to compute the motion profile starting from the actual values of the load motor position and speed When this option is used at the beginning of each new motion profile the position and speed reference are updated with the actual values of the l
104. king b Return Change PVT Counter Setup Absolute Position Source Change Low Level PVT Counter Value Low Level Value Prototype LONG TS PVTSetup 228 SHORT INT Clear Buffer SHORT INT Integrity Checking SHORT INT Change PVT Counter SHORT INT Absolute Position Source SHORT INT Change Low Level SHORT INT PVT Counter Value SHORT INT Low Level Value Parameters Description Clear Buffer Specifies if the PVT buffer is cleared Integrity Checking Enable disable PVT counter integrity checking Specifies if the integrity counter is updated with the value of Change Counter PVTCounterValue parameter Input Absolute Position Source Selects the source for initial position for absolute PVT mode Specifies if the level for BufferLow signaling is updated with the value of LowLevelValue parameter Change Low Level PVT Counter Value The new value for the drive motor PVT integrity counter Low Level Value The new value for the level of the BufferLow signal Output return TRUE if no error FALSE if error Description The function programs a drive motor to work in PVT motion mode In PVT motion mode the drive motor performs a positioning path described through a series of points Each point specifies the desired Position Velocity and Time i e contains a PVT data Between the points the built in reference generator performs a 3rd order interpolation Remark The function block just programs the drive motor f
105. l you can limit the maximum acceleration at sudden changes of the speed reference and thus to get a smoother transition These features are activated by setting the Limit Variation parameter to a positive value and disabled when the Limit Variation is zero The motion is executed e Immediately when Move Moment UPDATE IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of Technosoft 2007 23 TML LIB LabVIEW User Manual the movement Use the TS Updatelmmediate vi or the TS_UpdateOnEvent vi functions in order to activate the movement If the external device starts sending the reference AFTER the motion mode is activated it may be necessary to initialize EREFP EREFS EREFT or EREFV The desired starting value is set through Initial Value parameter Related functions TS SetAnalogueMoveExternal vi TS_SetDigitalMoveExternal vi Associated examples Example 13 Technosoft 2007 24 TML_LIB_LabVIEW User Manual 3 4 1 9 TS VoltageTestMode vi Symbol Move Moment Maximum Voltage Voltage Increment Return Theta DTheta Prototype LONG TS VoltageTestMode 220 SHORT INT MaxVoltage SHORT INT IncrVoltage SHORT INT 0 SHORT INT Dtheta SHORT INT MoveMoment Parameters Description MaxVoltage Maximum test voltage expres
106. le implements a jogging movement with the jogging speed computed from the value read to an A D channel input of the drive At start the program reads the A D channel value and stores it into the drive memory as the offset on that channel Then it continuously read the A D input and set the reference jogging speed proportional with the difference between the actual A D input and the initial offset value The motion continues until a digital input of the drive is set to low Run the application Change the value of the AD5 channel in order to modify the speed reference value Set the status of the digital input port IN 37 to low in order to stop the motion gt Example 18 vi Diagram File Edit Operate Tools Browse Window Help Qoa oo tienen Ee Init Comm Technosoft 2007 159 TML_LIB_LabVIEW User Manual Example 18 vi This example implements jogging movement with the jogging speed computed from the value read to an 4 D channel input of the drive At start the program reads the 4 D channel value and stores it into the drive memory as the offset on that channel Then it continuously read the A D input and set the reference jogging speed proportional with the difference between the actual input and the initial offset value The motion continues until digital input INPUT_37 10 37 of the drive is set to low level Technosoft 2007 160 TML LIB LabVIEW User Manual 4 19
107. lication with TML LIB LabVIEW The library TML LIB LabVIEW is a collection of high level functions grouped in several categories and provided as the TML LIB dll file To simplify the functions usage each function has a subVi associated Most of these subVIs are of Boolean type and return a True value if the execution of the function is performed without any error at PC level If the function returns a False value you can interrogate the error type by calling the function TS GetLastErrorText vi Steps to build an application with TML LIB LabView 1 Create a new VI Launch LabVIEW and press the button New VI For details read the LabView online help 2 Setup the communication The application developed is based on the communication between PC and Technosoft drives motors thus it should begin with the communication channel setup The communication channel is opened with the TS OpenChannel vi subVI At the end of the application you must close the communication channel with subVI TS CloseChannel vi 3 Load setup configurations The setup information is required by the library functions in order to check if there are incompatibilities between the drive and the operation to be executed as an example avoiding issuing an Output port command to a port which is an input port on that drive EasySetUp EasyMotion Studio generates the setup information in the form of an archive file with the t zip extension The archives are saved in th
108. lndexCapture vi TS SetNegativeLimitSwitch vi TS SetPositivelLimitSwitch vi Associated examples Represents the firmware versions F500A or later on Technosoft drives IDM240 CANopen IDM640 CANopen IDS640 CANopen 5 Represents the firmware versions FOOOH FO20H FOO5H F900H or later on Technosoft drives motors IDM240 IDM640 IDS240 IDS640 ISCM4805 ISCM8005 IBL2403 IM23x models IS and MA Technosoft 2007 86 TML_LIB_LabVIEW User Manual 3 4 6 Data transfer 3 4 6 1 TS SetlntVariable vi Symbol Variable Name Set integer Return Value Var Prototype LONG TS SetintVariable 8 CSTR Variable Name SHORT INT Value Parameters Name Description Input Variable Name TML parameter name Value The value to be written Output TRUE if no error FALSE if error Description The function writes the Value in the TML data Variable on the active axis The TML data parameter variable or user defined variable is of type long 16 bit Remarks 1 The available TML data is configuration dependent and is listed in the variables cfg file 2 The user defined variables are set with EasyMotion Studio prior generating the setup information Related functions 5 GetlntVariable vi TS SetLongVariable vi GetLongVariable vi TS SetFixedVariable vi 5 GetFixedVariable vi Associated examples Example 18 Technosoft 2007 87 TML LIB LabVIEW User Manual 3 4 6 2 TS GetlntVariable vi Symbol
109. lp d 2 m 13pt Application Font IE Tay 6 1 MyAddrLogg Size of buffer Select the parameter to vizualize Position x where the results stored 1353 67 EI 60 Number of variables y 50 102 Position e Position profile parameters MyLogData Position 21 12000 EI Speed 40 0 60 0 LA N l 0 100 200 300 400 500 600 20 0 80 0 TA J H se gm Position 0 0 100 0 250 000 Technosoft 2007 190 TML LIB LabVIEW User Manual 4 34 Example 34 Homing procedures based on pre stored TML sequences on the drive This example shows you how to execute a homing motion based on the existence on the drive of a specific motion sequence containing the TML code needed to implement the homing The search for the home position can be done in numerous ways In order to offer maximum flexibility the TML does not impose the homing procedures but lets you define your own according with your application needs Basically a homing procedure is a TML function and by calling it you start executing the homing procedure The call must be done using the function TS CancelableCALL Label This command offers the possibility to abort at any moment the homing sequence execution with function TS Abort Therefore if the homing procedure can t find the home position you have the option to cancel it During the execution of a homing procedure
110. lue Pointer where the parameter value is stored Return TRUE if no error FALSE if error Description The function reads the value of TML data Variable Name from the active axis The TML data parameter variable or user defined variable is of type fixed 16 bits integer part 16 bits fractional part The value read is converted to double and saved in the variable pointed by Read Value Remarks 1 The available TML data is configuration dependent and is listed in the variables cfg file 2 The user defined variables are set with EasyMotion Studio prior generating the setup information Related functions TS SetlntVariable vi TS SetLongVariable vi TS SetFixedVariable vi TS GetlntVariable vi GetLongVariable vi Associated examples Example 19 Technosoft 2007 92 TML LIB LabVIEW User Manual 3 4 6 7 TS SetBuffer vi Symbol Address Set Array Values Buffer 7 Return Size Prototype LONG TS SetBuffer 12 UNSIGNED SHORT INT Address LONG Values SHORT INT Size Parameters Name Description Input Address Start address where to download the data buffer Array Values Pointer to the array with data to be downloaded Size The number of words to download Output return TRUE if no error FALSE if error Description The function downloads a data buffer on the active axis The parameter Array Values points to the beginning of the array from where the data will be downloaded The length o
111. me P TCounter Pasition Type Initial Position Move Moment Prototype LONG TS SendPVTFirstPoint 36 LONG Position DOUBLE Velocity WORD Time SHORT INT PVT Counter SHORT INT PositionType LONG InitialPosition SHORT INT Move Moment SHORT INT Reference Base Parameters Description Positi Position value for first PVT point expressed in drive motor internal osition E position units V Speed at the of the first PVT segment expressed drive motor elocity internal speed units Tira Represents the time interval of the PVT segment expressed in drive motor internal time units The maximum time interval is 511 IU Input PVT Counter Integrity counter for first PVT point Position Type Specifies the type of PVT mode Initial Position The initial position at the start of an absolute PVT movement Move Moment Defines the moment when the motion is started Specifies how the motion reference is computed from actual values of Reference Base position and speed reference or from actual values of load motor position and speed Output Description The function sends the first PVT point and activates the PVT motion mode Parameter Position Type sets the PVT mode absolute or relative In the absolute mode Position Type ABSOLUTE POSITION each PVT point specifies the position to reach The initial position may be either the current position reference TML variable TPOS or a preset value read from the TML pa
112. mode on next event occurrence It allows you to start a motion that was previously programmed at the occurrence of the active event This can be useful for example if you already defined a motion and you want to start it when an event occurs The command can also be used to repeat the last motion that was already defined and eventually executed as for example a relative move when the event will occur Related functions TS Updatelmmediate vi Associated examples Example 6 Example 38 Technosoft 2007 51 TML LIB LabVIEW User Manual 3 4 2 4 TS Stop vi Symbol Prototype LONG TS Stop 0 void Parameters Name Description Inpt J w Output TRUE if no error FALSE if error Description The functions stops the motor with the deceleration rate set in TML parameter CACC The drive motor decelerates following a trapezoidal speed profile If the function is called during the execution of an S curve profile the deceleration profile may be chosen between a trapezoidal or an S curve profile You can detect when the motor has stopped by setting a motion complete event with function TS SetEventOnMotionComplete vi and waiting until the event occurs Wait Event WAIT EVENT When the drive performs torque control the drive is set in torque external mode with current reference 0 Remarks e order to restart after TS Stop vi call you need to set again the motion mode This operation disables the stop mod
113. movement Related functions TS SetGearingSlave TS SendSynchronization Associated examples Example 31 Technosoft 2007 36 TML LIB LabVIEW User Manual 3 4 1 18 TS SetGearingSlave vi Symbol Denominator Numerator Reference Base Enable Slave Limit Yariation Move Moment Return Prototype LONG TS SetGearingSlave 228 SHORT INT Denominator SHORT INT Numerator SHORT INT Reference Base SHORT INT Enable DOUBLE Limit Variation SHORT INT Move Moment Parameters Name Description Denominator Gear ratio denominator always positive Numerator Gear ratio numerator positive or negative Specifies how the motion reference is computed from actual Reference Base values of position and speed reference or from actual values of Input load motor position and speed Enable Slave Enables the electronic gearing slave mode Enable Superposition Enables disables motion superposition Limit Variation Acceleration limit when the slave is coupling Move Moment Defines the moment when the settings are activated Output Description The function programs the active axis to operate as slave in electronic gearing In electronic gearing slave mode the drive motor performs a position control At each slow loop sampling period the slave computes the master s position increment and multiplies it with its programmed gear ratio The result is the slave s position reference increment which added to the previous slav
114. nal loop of the TS SetEventOnMotionComplete vi waiting for the event to occur If the parameter Wait Event NO WAIT EVENT you can check if the event occurred using the TS CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period Technosoft 2007 58 TML_LIB_LabVIEW User Manual At event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO_STOP if you do not want to stop the motion at event occurrence Related functions TS CheckEvent vi and all other SetEvent functions Example 1 Example 2 Example 4 Example 7 Example 14 Example 20 Example 24 Example 28 Example 29 Example 31 Example 32 Example 33 Example 35 Example 37 Example 39 Example 40 Associated examples Technosoft 2007 59 TML_LIB_LabVIEW User Manual 3 4 8 5 TS SetEventOnMotorPosition vi Symbol Enable Stop Position Type Position we 7777 Return Podtion Over Wait Event Prototype LONG TS SetEventOnMotorPosition 20 SHORT INT Position Type LONG Position SHORT INT Over SHORT INT WaitEvent SHORT INT Enable Stop Parameters Description Position Type Specifies the motor position type absolute or relative Positi The position value that triggers the event expressed in TML osition it Input position units Over Specifies the condition tested Wait Event Specifies if the function wait
115. oad motor position and speed Remark In open loop control of steppers this option is ignored because there is no position and or speed feedback Related functions TS MoveAbsolute vi TS MoveSCurveAbsolute vi TS MoveSOCurveRelative vi TS MoveVelocity vi Associated examples Example 1 Example 2 Example 4 Example 5 Example 7 Example 8 Example 16 Example 20 Example 24 Example 26 Example 29 Example 31 Example 32 Example 33 Example 36 Example 38 Example 40 Example 42 Technosoft 2007 13 TML_LIB_LabVIEW User Manual 3 4 1 3 TS MoveSCurveAbsolute vi Symbol Position Speed S Acceleration J curve p Return Jerk Time abs Move Moment Deceleration Type Prototype LONG 5 MoveSCurveAbsolute 32 LONG Position DOUBLE Speed DOUBLE Acceleration LONG Jerk Time SHORT INT Move Moment SHORT INT Deceleration Type Parameters Description Position Position to reach expressed in TML position units Speed The slew speed expressed in TML speed units Acceleration Acceleration deceleration rate expressed in TML acceleration units Represents the time interval for acceleration to reach the programmed In put Jerk Time value It is expressed in TML time units Move Moment Defines the moment when the motion is started Deceleration Type dr the speed profile used when the motion is stopped with Output Return TRUE if no error FALSE if error Description The function block progr
116. ommand Therefore you should not set wait events before executing this command Related functions TS CheckEvent vi and all other SetEvent functions Associated examples Example 1 Example 2 Example 4 Example 7 Example 13 Example 17 Example 19 Technosoft 2007 64 TML LIB LabVIEW User Manual 3 4 3 8 TS SetEventOnPositionRef vi Symbol Position et Over Event Return Wait Event 05 Enable Stop Prototype LONG TS SetEventOnPositionRef 16 LONG Position SHORT INT Over SHORT INT Wait Event SHORT INT Enable Stop Parameters Name Description The position reference value that triggers the event expressed in TML position units Input Over Specifies the condition tested Wait Event Specifies if the function waits the event occurrence Enable Stop Stop the motion when at event occurrence Output return TRUE if no error FALSE if error Position Description It allows you to program an event function of position reference Setting this event you can detect when the position reference is over Over OVER or under Over BELOW the value of parameter Position If the parameter Wait Event WAIT EVENT the function tests continuously the event status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an internal loop of the TS_SetEventOnPositionRef vi function waiting for the ev
117. ommands are executed e Immediately when Move Moment UPDATE IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of the movement Use the TS Updatelmmediate vi or the TS UpdateOnEvent vi functions in order to activate the movement Related functions TS CamDownload vi TS Camlnitialization vi TS SetCammingSlaveRelative vi TS SetCammingSlaveAbsolute vi TS SendSynchronization vi Associated examples Example 32 Technosoft 2007 39 TML LIB LabVIEW User Manual 3 4 1 20 TS SetCammingSlaveRelative vi Symbol Run Address Reference Base Enable Slave Move Moment Offset From Master Mult Input Factor Mult Output Factor Return Prototype LONG TS SetCammingSlaveRelative 36 UNSIGNED SHORT INT RunAddress SHORT INT Reference Base SHORT INT Enable Slave SHORT INT Move Moment LONG Offset From Master DOUBLE Mult Input Factor DOUBLE Mult Output Factor Parameters Description Run Address Drive motor RAM address where the cam table is copied with function TS_Camlnitialization Specifies how the motion reference is computed from actual Reference Base values of position and speed reference or from actual values of Input load motor position and speed Enable Slave Enable the electronic camming slave mode Move Mom
118. on selects the currently active group All further function calls which send TML messages on the communication channel will address these messages to this active group The active group is set with parameter Group ID It must be a value between 1 and 8 Remark function must be called after the group setup ie after calling the TS_SetupGroup vi function Related functions TS SelectAxis vi Associated examples Example 26 Technosoft 2007 116 TML LIB LabVIEW User Manual 3 4 11 3 TS SelectBroadcast vi Symbol Select Broad Return cast Prototype LONG TS SelectBroadcast 20 void Parameters Name Description Input Output Return TRUE if no error FALSE if error Description The function enables TML LIB to issue the broadcast messages i e all further function calls which send TML messages on the communication channel will address these messages to all the axes Remark The function must be called after the broadcast setup i e after calling the TS SeiupBroadcast vi function Related functions TS SelectAxis vi TS SelectGroup vi Associated examples Technosoft 2007 117 TML LIB LabVIEW User Manual 3 4 12 Communication setup 3 4 12 1 TS OpenChannel vi Symbol Device Name Open Return Type hanne HostID Baud Rate Prototype SHORT INT TS OpenChannel 16 CSTR Device Name UNSIGNED CHAR Type UNSIGNED CHAR HostlD UNSIGNED LONG Baud rate Parameters
119. or PVT mode The motion mode is activated with function TS_SendPVTFirstPoint vi and the PVT points are sent to the drive with function TS SendPVTPoint vi A key factor for getting a correct positioning path in PVT mode is to set correctly the distance in time between the points Typically this is 10 20ms the shorter the better If the distance in time between the PVT points is too big the 3rd order interpolation may lead to important variations compared with the desired path The PVT motion mode can be started only when the previous motion is complete However you can switch at any moment to another motion mode The PVT mode can be relative or absolute In the absolute mode each PVT point specifies the position to reach The initial position may be either the current position reference TML variable TPOS Absolute Position Source 1 or a preset value read from the TML parameter PVTPOSO Absolute Position Source 0 In the relative mode each PVT point specifies the position increment relative to the previous point In both cases the time is relative to the previous Technosoft 2007 27 TML LIB LabVIEW User Manual point i e represents the duration of a PVT segment For the first PVT point the time is measured from the starting of the PVT mode Remark The PVT mode absolute or relative is set with function TS_SendPVTFirstPoint vi Each time when the drive receives a new PVT point it is saved into the PVT buffer The referenc
120. ort changes its status 143 Example 11 Move forward and backward at 2 different speeds for a given distance 145 Example 12 Speed profile followed by profiled positioning at a given speed 147 Example 13 Speed control with external reference 149 Example 14 Profiled positioning with output port status changing at a given position 151 Example 15 Execute a jogging speed motion until the home input is captured 153 Example 16 Different motions based on the status of two digital inputs of the drive 155 Example 17 Move between limit switches Power off if blocked on a limit switch 157 Example 18 Jog at a speed computed from an A D signal until a digital input is reset 159 Example 19 Speed control with drive interrogation setup of TML speed parameters 161 Example 20 Setup positioning motion using tables stored into drive memory 163 Example 21 Setting the Digital External motion 165 Example 22 Test the voltage mode with event on voltage reference 167 Example 23 Test torque mode with event on torque reference 169 Example 24 Profiled positioning and speed movement with event test from PC side 171 Example 25 Movement as defined in an external file containing TML source code 173 Example 26 Positioning command to a group of
121. otor performs speed control e Torque reference when Reference Type REFERENCE_TORQUE The drive motor performs torque control Remark During the drive motor setup in the Drive setup dialogue you have to 1 Select the appropriate control type for your application at Control Mode 2 Perform the tuning of controllers associated with the selected control mode 3 Setup the analogue reference Specify the reference values corresponding to the upper and lower limits of the analogue input In addition a dead band symmetrical interval and its center point inside the analogue input range may be defined In position control you can limit the maximum speed at sudden changes of the position reference and thus to reduce the mechanical shocks In speed control you can limit the maximum acceleration at sudden changes of the speed reference and thus to get a smoother transition These features are activated by setting the Limit Variation parameter to a positive value and disabled when the Limit Variation is zero In torque control you can choose how often to read the analogue input at each slow loop sampling period Update Reference UPDATE_FAST or at each fast loop sampling period Update Reference UPDATE SLOW Technosoft 2007 20 TML_LIB_LabVIEW User Manual The motion is executed e Immediately when Move Moment UPDATE_IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT e f you select Move Moment UP
122. parameter Device Name can be For serial communication COM1 COM2 COMG For virtual serial interface is the name of the dll file that implements the serial interface For CAN bus communication 1 2 3 For Ethernet communication 192 168 19 52 technosoft masterdrive ch The HostID parameter represents the Axis ID of the PC in the system The value of HostlD is set as follows e For serial RS 232 the HostlD is equal with the axis ID of the drive connected to the PC serial port e For serial RS 485 and CAN bus the Hostld must be a unique value Attention Make sure that all the drives motors from the network have a different address e For Ethernet communication the HostID is equal with the axis ID of the drive connected to the serial port of the Ethernet adapter Set the communication speed with the Baud Rate parameter The accepted values are e For serial communication and Ethernet 9600 19200 38400 56000 or 115200 kbps e For CAN bus 125 250 500 1000 kbps Remark You can open several communication channels but only one can be active in an application at one moment You can switch between the communication channels with function TS SelectChannel vi Related functions TS SelectChannel vi TS CloseChannel vi Associated examples all examples Technosoft 2007 119 TML LIB LabVIEW User Manual 3 4 12 2 TS SelectChannel vi Symbol Fd hanel 77 Return Prototype LON
123. peed units Input Over Specifies the condition tested Wait Event Specifies if the function waits the event occurrence Enable Stop Stop the motion when at event occurrence Output Return TRUE if no error FALSE if error Description It allows you to program an event function of motor speed The events can be when the motor speed is over Over OVER or under Over BELOW the Speed parameter If the Wait Event WAIT_EVENT the function tests continuously the event status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an internal loop of the TS_SetEventOnMotionComplete vi waiting for the event to occur If the parameter Wait Event NO WAIT EVENT you can check if the event occurred using the TS_CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period At event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO_STOP if you do not want to stop the motion at event occurrence Related functions TS CheckEvent vi and all other SetEvent functions Associated examples Example 3 Example 6 Example 12 Technosoft 2007 62 TML LIB LabVIEW User Manual 3 4 3 6 TS SetEventOnLoadSpeed vi Speed Over v Wait Event Enable Stop Symbol Prototype LONG TS SetE
124. ple 21 vi Diagram B Dl x File Edit Operate Tools Browse Window Help Ex21 x sb EXE e el ba m af 13pt Application Font 13pt Application Font Foy pem P 17 17 Disabled EX Kj Technosoft 2007 165 TML LIB LabVIEW User Manual Example 21 vi DE Technosoft 2007 166 TML LIB LabVIEW User Manual 4 22 22 Test the voltage mode with event on voltage reference This example activates the test voltage mode on a drive A variable voltage vector is generated on motor phases with prescribed increment and maximum value For AC motor configurations the voltage vector can also be rotated with a prescribed initial and increment angle Setup the maximum voltage and the voltage increment parameters If the drive controls an AC motor set the 0 Dtheta parameters else set them to 0 Then run the application ne gt Example 21 vi Diagram ni x Edit Operate Tools Browse Window Help Ex21 x sb o eu e ba f 27 13pt Application Font FF Te 10000000T Drive status 12 17 Disabled EX Xu Technosoft 2007 167 TML LIB LabVIEW User Manual Example 22 vi DE Technosoft 2007 168 TML LIB LabVIEW User Manual 4 23 Example 23 Test torque mode
125. r monitoring the drive motor status Miscellaneous functions for FAULT state reset and drive reset Data logger functions for logger setup and data upload Drive setup functions for axis setup in the PC application Drive administration functions that control the destination axis of the message sent via communication channels Communication setup functions that manage the PC communication channel For each function you will find the following information The subVi symbol The function C prototype SubVI parameters description A functional description Name of the related subVIs Examples reference The examples that illustrate the correct use of the functions subVIs are listed in chapter 4 Technosoft 2007 9 TML LIB LabVIEW User Manual 3 4 1 Motion programming 3 4 1 1 TS MoveAbsolute vi Symbol Reference Base Position Move Speed Abs Return Acceleration Move Moment Prototype LONG TS MoveAbsolute 28 LONG Position DOUBLE Speed DOUBLE Acceleration SHORT INT Move Moment SHORT INT Reference Base Parameters Name Description Position Position to reached expressed in drive motor position units Speed Slew speed expressed in TML speed units If the value is zero the drive motor will use the previously value set for speed Acceleration deceleration rate expressed in TML acceleration units If its Input Acceleration value is zero the drive motor will
126. r presents a collection of applications implemented in LabVIEW which use the functions of the TML LIB LabVIEW library The examples are intended to provide you a first basic insight about using the TML_LIB_ LabVIEW library to implement your motion control applications The examples are based on the hypothesis that the drive is already initialized i e the setup code is already downloaded into the drive see section 2 3 for details so that you ll directly start sending motion commands from the PC to the drive Remark Most TML LIB LabVIEW subVIs return a Boolean TRUE if they execute correctly and a FALSE if any error occurred incorrect parameters failed operation at PC level You should check after each function call if there was an error or not In case of error use the subVI TS GetLastTextError vi to obtain a description of the error occurred Thus a VI implemented with TML LIB LabVIEW subVIs should look like this The examples automatically launch at run control panels which display the status of some drive variables as speed position current etc Remark The examples and the control panels are built for configurations with Technosoft drive IBL2403 CAN For other drives motors generate the setup data and modify the examples and the control panels to accommodate the IO configuration of your drive motor Technosoft 2007 122 TML LIB LabVIEW User Manual IS Drive Status Control Panel Drive Status vi 0 x
127. ram a drive motor as master in electronic camming When master position is provided via the external digital interface the slave computes the master position by counting the pulse amp direction or quadrature encoder signals The initial value of the master position is set by default to 0 Use function block TS_SetLongVariable to change its value by writing the desired value in the TML variable APOS2 Set the parameter Offset From Master to shift the cam profile versus the master position by setting an offset for the slave The cam table input is computed as the master position minus the cam offset For example if a cam table is defined between angles 100 to 250 degrees a cam offset of 50 degrees will make the cam table to execute between master angles 150 and 300 degrees You can compress extend the cam table input Set the parameter Mult Input Factor with the correction factor by which the cam table input is multiplied For example an input correction factor of 2 combined with a cam offset of 180 degrees will make possible to execute a cam table defined for 360 degrees of the master in the last 180 degrees You can also compress extend the cam table output Specify through input Mult Output Factor the correction factor by which the cam table output is multiplied This feature addresses the applications where the slaves must execute different position commands at each master cycle all having the same profile defined through a cam table In th
128. ram hangs up in an internal loop of the TS SetEventOnLimitSwitch vi function waiting for the event to occur If the parameter Wait Event NO WAIT EVENT you can check if the event occurred using the TS CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period At the event occurrence the motion is stopped if the parameter Enable Stop TRUE Set Enable Stop FALSE if you do not want to stop the motion at event occurrence Related functions 5 CheckEvent vi and all other SetEvent functions Associated examples Example 9 Example 17 Technosoft 2007 69 TML LIB LabVIEW User Manual 3 4 3 13 TS_SetEventOnDigitallnput vi Symbol Input Port et Status ee Return Wait Event ain Enable Stop Prototype LONG TS SetEventOnDigitalinput 16 UNSIGNED CHAR Input Port UNSIGNED CHAR Status SHORT INT Wait Event SHORT INT Enable Stop Parameters Description Input Port Specifies the digital input monitored Status The input status that trigger the event Input Wait Event Specifies if the function waits the event occurrence Enable Stop Stop the motion when at event occurrence Output Return TRUE if no error FALSE if error Description It allows you to program an event function of drive motor general purpose digital inputs The event is set when a transition occurs on digital input Input Port You can monitor when
129. rameter PVTPOSO In the relative mode Position Type RELATIVE POSITION each PVT point specifies the position increment relative to the previous point Remark The source for initial position TPOS or PVTPOSO is set with function TS PVTSetup vi The motion is executed e Immediately when Move Moment UPDATE IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of Technosoft 2007 29 TML LIB LabVIEW User Manual the movement Use the TS Updatelmmediate vi or the TS_UpdateOnEvent vi functions in order to activate the movement Set Reference Base FROM_REFERENCE if you want the reference generator to compute the motion profile starting from the actual values of the position and speed reference Set Reference Base FROM_MEASURE if you want the reference generator to compute the motion profile starting from the actual values of the load motor position and speed When this option is used at the beginning of each new motion profile the position and speed reference are updated with the actual values of the load motor position and speed Related functions TS PVTSetup vi TS SendPVTPoint vi Associated examples Technosoft 2007 30 TML_LIB_LabVIEW User Manual 3 4 1 13 TS SendPVTPoint vi Symbol Position Send Velocity PVT
130. re any functions that send messages to the axis Related functions TS LoadSetup vi TS SetupAxis vi TS SelectAxis vi Associated examples all examples Technosoft 2007 114 TML LIB LabVIEW User Manual 3 4 11 Drive administration 3 4 11 1 TS SelectAxis vi Symbol Axis ID Return LONG _TS_SelectAxis 4 UNSIGNED CHAR Axis ID Prototype Parameters Name _____ Description Input The Axis ID where the commands are sent Output TRUE if no error FALSE if error Description The function selects the currently active axis All further function calls which send TML messages on the communication channel will address the messages to this active axis Call the function only after the setup of the axis after calling the TS_SetupAxis vi function for the same axis with the same Axis ID In a single axis motion system call this function only once in your program In a multiple axis configuration call this function each time you want to redirect the communication to another axis of the system Related functions TS_SelectGroup vi Associated examples all examples Technosoft 2007 115 TML_LIB_LabVIEW User Manual 3 4 11 2 TS SelectGroup vi Symbol Group ID ame Return Prototype LONG _TS_SelectGroup UNSIGNED CHAR Group ID Parameters Name _ Description Input Group ID The Group ID where the commands are sent Output TRUE if no error FALSE if error Description The functi
131. re programmable via TML parameters int 0x0864 and PVTBUFLEN int 0x0865 Therefore if needed the PVT buffer size can be substantially increased Use TS SetlntegerVariable vi to change the PVT buffer parameters Each PVT point also includes a 7 bit integrity counter The integrity counter value must be incremented by the host by one each time a new PVT point is sent to the drive motor If the integrity counter error checking is activated Integrity Checking 2 YES the drive compares its integrity counter value with the one sent with the PVT point This comparison is done every time a PVT point is received If the values of the two integrity counters do not match the integrity check error is triggered the drive motor sends messages with PVTSTS to the host and the received PVT point is discarded Each time a PVT point is accepted the integrity counters match or the integrity counter error checking is disabled the drive automatically increments its internal integrity counter The default value of the internal integrity counter after power up is 0 Set Change PVT Counter YES to change its value with PVT Counter Value parameter The integrity counter checking is disabled when parameter Integrity Checking NO Related functions 5 SendPVTFirstPoint vi TS SendPVTPoint vi Associated examples Technosoft 2007 28 TML LIB LabVIEW User Manual 3 4 1 12 TS SendPVTFirstPoint vi Symbol Reference Base Position Velocity Ti
132. reaches the slew speed e The motor must reach slew speed during the acceleration part of the motion profile The VI front panel allows you to setup the parameters of the first and of the second position profiles Example 06 vi Diagram File Edit Operate Tools Browse Window Help Slm elke ponr Motion Speed DONNE o 0 4 pe Iuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuu Technosoft 2007 135 TML LIB LabVIEW User Manual Example 06 vi 4 2100 00 dio Technosoft 2007 136 TML LIB LabVIEW User Manual 4 7 Example 7 Positioning movement speed jogging wait a time period then stop This example implements a position profile movement followed by a speed profile jogging After a time interval of movement on the speed profile the motion is stopped The VI front panel allows you to setup the parameters of the first speed profile the second speed profile and the second speed profile travel time interval File Edit Operate Tools Browse Window Help 5181 m 10 2 190 Apptcation font 3 69 4 NO_ADDITIVE UPDATE_IMMEDIATE FROM_REFERENCE Technosoft 2007 137 TML_LIB_LabVIEW User Manual Example 07 vi belle Technosoft 2007 138 TML LIB LabVIEW User Manual 4 8 Example 8 Repeat a motion at input port set with current reduction between motions This example implem
133. returns the binary code of a TML command MODE PP Example 40 i Diagram File Edit Operate Tools Browse Window Help SETDEBUG MODE PP Technosoft 2007 204 TML LIB LabVIEW User Manual 4 41 Example 41 Speed jog and positioning with direction change The example programs a speed profile followed by a position profile The drive switches from speed control to position control when the event function of reference speed is set When the event set function of motor position is triggered the motion is stopped and restarted in the opposite direction with a speed profile The motion ends when the event set function of load speed is set gt Example 41 vi Diagram File Edit Tools Browse Window Help sie iir ener TE see NE MS Technosoft 2007 205 TML LIB LabVIEW User Manual Example 41 vi 00 Technosoft 2007 206 TML_LIB_LabVIEW User Manual This page is empty Technosoft 2007 207 TML_LIB_LabVIEW User Manual TECHNOS OFT
134. riggered positioning movement This example implements a speed movement until a digital input of the drive is set to low At that moment a positioning movement with a different maximum speed is executed The VI allows you to setup the parameters of the speed and position profiles While the application is running set to low the IN 37 digital input of the drive in order to stop the motion The VI front panel allows you to setup the parameters of the speed and position profiles iE Example 05 vi Diagram File Edit Operate Tools Browse Window Help 8 lo or pum gogg N Drive H Motion i Speed inugnagauguuusuuuuuuuuuuuufNopy ppuuaagnauuauagauuauguuuuuun oett 1 uem MoveVelocity vi tas Technosoft 2007 133 TML LIB LabVIEW User Manual Example 05 vi Technosoft 2007 134 TML_LIB_LabVIEW User Manual 4 6 Example 6 Absolute position motion profile with different acceleration deceleration rate This example implements a position profile movement having different acceleration and deceleration values One acceleration value is used at motor start As the slew speed is reached another acceleration value is set thus the deceleration will be executed with the new value Note that in order to get this behavior two conditions must be observed e The reference position must be big enough so that the reference speed is a trapezoidal one
135. rive memory it executes until a RETurn TML instruction is found At that moment the drive enters the waiting loop executed prior to the launch of the CALL command Meanwhile any command sent on line from the PC will have a higher execution priority IE Example 30 vi Diagram File Edit Operate Tools Browse Window Help Drive status n Technosoft 2007 183 TML LIB LabVIEW User Manual Example 30 vi Negative_Direction Technosoft 2007 184 TML LIB LabVIEW User Manual 4 31 Example 31 Set up the Master and Slave Gearing use the drives in gearing mode This example programs the drive with Axis ID 2 as master and the drive with Axis ID 1 as slave in electronic gearing mode It initializes the master and the slave with the appropriate parameters and then it starts a motion on the master At the end of the gearing mode operation it disables both the master and the slave from this operation mode The VI front panel allows you to set for the master drive the parameters of the speed profile and the gear ratio for the slave drive File Edit Operate Tools Browse Window Help E 9 ba GF Application Font GE 000000000 te 6 7 vp e 00000000 j E Example 31 vi Diagram loj x 31 Slave ID Technosoft 2007 185 TML LIB LabVIEW User Manual Example 31 vi EZ Technosoft 2007 186
136. rive to control the step motor in open loop Remark The command is valid only for configurations with step motor operating in open loop Related functions Associated examples Example 8 Technosoft 2007 55 TML LIB LabVIEW User Manual 3 4 2 8 TS QuickStopDecelerationRate vi Symbol Deceleration a ees Return Prototype LONG _TS_QuickStopDecelerationRate 8 DOUBLE Deceleration Parameters Name Description Input The value written in TML parameter CDEC Output TRUE if no error FALSE if error Description The function sets on the active axis the TML parameter CDEC with the value Deceleration The drive motor uses the deceleration rate when e The function 5 Stop is executed during positioning set with TS MoveSOurveRelative Absolute and option Deceleration Type TRAPEZOIDAL SPEED PROFILE e Enters in quick stop mode The drive enters in quick stop mode if an error requiring the immediate stop of the motion occurs like triggering a limit switch or following a command error the drive motor enters automatically Related functions TS Stop vi TS MoveSCurveRelative vi TS MoveSCurveAbsolute vi Associated examples Example 34 Technosoft 2007 56 TML LIB LabVIEW User Manual 3 4 3 Events 3 4 31 TS CheckEvent vi Symbol Event Check Event Return Prototype LONG TS CheckEvent 4 SHORT INT event Parameters Description Signal if event occurred return TRUE if no
137. rogram an event function of torque reference Setting this event you can detect when the torque reference is over Over OVER or under Over BELOW the value of parameter Torque If the parameter Wait Event WAIT EVENT the function tests continuously the event status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an internal loop of the TS SetEventOnTorquehRet vi function waiting for the event to occur If the parameter WaitEvent NO WAIT EVENT you can check if the event occurred using the TS CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period At the event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO STOP if you do not want to stop the motion at event occurrence Related functions TS CheckEvent vi and all other SetEvent functions Associated examples Example 23 Technosoft 2007 67 TML LIB LabVIEW User Manual 3 4 3 11 TS SetEventOnEncoderindex vi Symbol Index Type Transition Type rooger n Return Wait Event Enable Stop Prototype LONG _TS_SetEventOnEncoderlndex 16 SHORT INT Index Type SHORT INT Transition Type SHORT INT WaitEvent SHORT INT Enable Stop Parameters Name Description Index Type Specifies the index monitored for transition
138. rogram vi TS TS CancelableCALL TS CancelableCALL Label vi Associated examples Example 30 Technosoft 2007 75 TML_LIB_LabVIEW User Manual 3 4 4 5 TS CancelableCALL vi Address s Return LONG _TS_CancelableCALL 4 UNSIGNED SHORT INT address Symbol Prototype Parameters Name Description Input Name of the TML function Output TRUE if no error FALSE if error Description The function commands the active axis to execute the TML function stored at address Use this command if the exit from the called TML function depends on conditions that may not be reached In this case using function TS_Abort vi you can terminate the function execution and return to the next instruction after the call The TML functions can be stored in the drive motor EEPROM memory or in the TML program memory Prior using the TS_CancelableCALL vi function you have to e Create at least one TML function using EasyMotion Studio e Download the TML code in the drive motor memory with EasyMotion Studio or function TS_DownloadProgram e Make sure that a valid TML code subroutine begins at address Otherwise unpredictable effects can occur which can affect to correct operation of the drive motor Remark 1 You can call only one function at a time using the TS_CancelableCALL Any cancelable call issued during the execution of a function called with TS_CancelableCALL is ignored This situation is signaled with bit SRL 7
139. rror FALSE if error Description The function enables disables the power stage of the active axis If Enable POWER ON the power stage is enabled executes the TML command AxisON The power stage is disabled executes the TML command AxisOFF when Enable POWER OFF Related functions TS ResetFault vi TS Reset vi Associated examples all examples Technosoft 2007 49 TML LIB LabVIEW User Manual 3 4 2 2 TS Updatelmmediate vi Symbol UPD Lasso Return Prototype LONG _TS_Updatelmmediate 0 void Parameters __ Description Input Output TRUE if no error FALSE if error Description The function updates the motion mode immediately It allows you to start a motion previously programmed This can be useful for example if you already defined a motion and you want to start it in a specific context after testing a condition event input port etc The command can also be useful to repeat the last motion that was already defined and eventually executed as for example a relative move Related functions T8 UpdateOnEvent vi Associated examples Example 5 Example 19 Technosoft 2007 50 TML LIB LabVIEW User Manual 3 4 2 3 TS UpdateOnEvent vi Symbol E Meee Return Event Prototype LONG _TS_UpdateOnEvent 0 void Parameters __ Description Input gt Output TRUE if no error FALSE if error Description The function updates the motion
140. s with a size equal to the Count Values parameter The TS UploadLoggerResults vi function will fill the Array Values data buffer with the data transferred from the drive and will also return the actual number of transferred data words in the Count Values parameter Once the data is transferred you can use it for data analysis graphical representation Remark 1 Prior uploading the data logged call function TS CheckLoggerStatus vi to test the end of data logging 2 The number of data sets which were stored will be determined as the integer part of the ratio length Count Address where length and Count Address setup parameters defined when calling the TS SetupLogger vi function The uploaded data is stored in consecutive data sets i e the first set of Count Address words will contain the first logged point for the selected variables the second set of Count Address words will contain the second logged point for the selected variables and so on The following table illustrates this data structure for an example of 4 logged variables Data WORD Meaning Variable 1 point 1 Variable 2 point 1 Variable 3 point 1 Variable 4 point 1 Variable 1 point 2 Variable 2 point 2 Variable 3 point 2 NOIR ICO IN Technosoft 2007 108 TML_LIB_LabVIEW User Manual Related functions TS SetupLogger TS StartLogger TS_ CheckLoggerStatus Associated examples Example 33 Technosof
141. s of axes with the TS SetupGroup vi subV1 This will allow you to issue commands which will be received and executed simultaneously on all the axes initialized as belonging to that group Once all the axes are defined the library allows you to select the so called active axis or group using the TS SelectAxis or TS SelectGroup subVI respectively Consequently all future commands that you ll execute after the selection of one axis or group will be addressed to that axis or group You can change at any time in your program the active axis group Technosoft 2007 7 TML LIB LabVIEW User Manual 3 2 Internal units and scaling factors Technosoft drives motors work with parameters and variables represented in internal units IU The parameters and variables may represent various signals position speed current voltage etc Each type of signal has its own internal representation in IU and a specific scaling factor In order to easily identify each type of IU these have been named after the associated signals For example the position units are the internal units for position the speed units are the internal units for speed etc The scaling factor of each internal unit shows the correspondence with the international standard units SI The scaling factors are dependent on the product motor and sensor type Put in other words the scaling factors depend on the setup configuration In order to find the internal units and the sc
142. s the event occurrence Enable Stop Stop the motion when at event occurrence Output Description It allows you to program an event function of motor position The events can be when the absolute Position Type ABSOLUTE_POSITION or relative Position Type ABSOLUTE_RELATIVE motor position is equal or over under Position The absolute motor position is the measured position of the motor The relative position is the load displacement from the beginning of the actual movement For example if a position profile was started with the absolute load position 50 revolutions when the absolute load position reaches 60 revolutions the relative motor position is 10 revolutions The condition monitored for the event is set with parameter Over For Over OVER the event is set when the motor position is equal or over the Position When Over BELOW the event is set if the motor position becomes equal or under Position If the Wait Event WAIT_EVENT the function tests continuously the event status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an internal loop of the TS_SetEventOnMotorPosition vi waiting for the event to occur If the parameter Wait Event NO WAIT EVENT you can check if the event occurred using the TS_CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from th
143. scribed through Position parameter for position increment Speed for slew speed Acceleration for acceleration deceleration rate and Jerk Time The position to reach can be positive or negative The Speed Acceleration and Jerk Time can be only positive An S curve profile must begin when load motor is not moving During motion the parameters should not be changed Therefore when executing successive S curve commands you should wait for the previous motion to end before setting the new motion parameters and starting next motion When the motion is stopped with function TS_Stop vi the deceleration phase can be done in 2 ways e Smooth using an S curve speed profile when Deceleration Type S_CURVE_SPEED_PROFILE e Fast using trapezoidal speed profile when Deceleration TRAPEZOIDAL SPEED PROFILE The motion can be executed e Immediately when Move Moment UPDATE IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of Technosoft 2007 16 TML LIB LabVIEW User Manual the movement Use the TS_Updatelmmediate vi or the TS_UpdateOnEvent vi functions in order to activate the movement Related functions 5 MoveAbsolute vi TS MoveRelative vi TS MoveSCurveAbsolute vi TS MovevVelocity vi Associated examples Example 35 Technosoft 2007 17
144. scription Input Master Resolution Number of encoder counts per one revolution of the master position sensor Output TRUE if no error FALSE if error Description The function sets the TML parameter MASTERRES with the value Master Resolution The master resolution is needed by the electronic gearing or camming slaves to compute correctly the master position and speed i e the position increment If master position is not cyclic i e the resolution is equal with the whole 32 bit range of position set master resolution to FULL RANGE Remark Call function TS SetMasterResolution vi before activating the electronic gearing or camming slave mode with function TS SetGearingSlave vi respectively TS SetCammingSlaveAbsolute Relative vi Related functions TS SetGearingSlave vi TS SetCammingSlaveAbsolute vi TS SetCammingSlaveRelative vi Associated examples Example 32 Technosoft 2007 47 TML LIB LabVIEW User Manual 3 4 1 25 TS SendSynchronization Send Period 34 ene fr Return LONG TS SendSynchronization 4 LONG Period Symbol Prototype Parameters Description input Time period between two synchronization messages It is expressed in drive motor internal time units Output TRUE if no error FALSE if error Description The function enables disables the synchronization procedure between axes The synchronization process is activated when the parameter Period has a non zero value The active ax
145. sed in drive motor voltage command units IncrVoltage Voltage increment expressed in drive motor internal units Initial value of electrical angle expressed in drive motor electrical angle 0 nits Electric angle increment expressed in drive motor electrical angle increment units Input Dtheta Move Moment Defines the moment when the motion is started Output return TRUE if no error FALSE if error Description The function allows you to set the drives motors in voltage test mode In the test mode a saturated ramp voltage is applied to the motor i e the voltage will increase with the IncrVoltage increment at each slow sampling period up to the MaxVoltage value Remark This is a test mode to be used only in some special cases for drives setup The test mode is not supposed to be used during normal operation For AC motors like for example the brushless motors you have the possibility to rotate a voltage reference vector with a programmable speed As a result these motors can be moved in an open loop mode without using the position sensor The main advantage of this test mode is the possibility to conduct in a safe way a series of tests which can offer important information about the motor parameters drive status and the integrity of the its connections The voltage reference vector initial position is set through parameter 0 and its speed through Dtheta For DC motors set these parameters to
146. set with parameter Over For Over OVER the event is set when the load position is equal or over the Position When Over BELOW the event is set if the load position becomes equal or under Position If the Wait Event WAIT EVENT the function tests continuously the event status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an internal loop of the TS SetEventOnLoadPosition vi waiting for the event to occur If the parameter Wait Event NO WAIT EVENT you can check if the event occurred using the TS CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period At event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO STOP if you do not want to stop the motion at event occurrence Related functions TS CheckEvent vi and all other SetEvent functions Associated examples Example 42 Technosoft 2007 61 TML LIB LabVIEW User Manual 3 4 3 5 TS SetEventOnMotorSpeed vi Symbol Speed Set Over Return Wait Event Enable Stop Prototype LONG TS SetEventOnMotorSpeed 20 DOUBLE Speed SHORT INT Over SHORT INT WaitEvent SHORT INT Enable Stop Parameters Description Speed The speed value that triggers the event expressed in drive motor internal s
147. t 99 3 4 8 4 TS_GetOutputOfExecute vi is 100 3 4 8 5 SA SAVE Vira a SET recente cpr An ee an An 101 3 4 8 6 6 102 3 4 8 7 TS 103 3 4 8 8 TS _Ge tLastErrorText vi nennen nennen nnns nnne 104 3 4 9 Data logger onere EE 105 3 4 9 1 TS_SetupLogger vi 105 3 4 9 2 TS StartEogger Vi eret er tri eee moment 106 3 4 9 3 TS_CheckLoggerStatus vi ss 107 3 4 9 4 5 108 E L DriV6 Setup ii ut M 110 3 4 10 1 110 3 4210 25 TS SetU pAXIS VIic o adicere e t edle ab ae enter tetes cd rs 111 3410 3 TS Set pGroUp Vi iei t etait det aaro 112 24104 TS SetupBroadcast nte ed tede t t aa 113 3 4 10 5 TS nennen 114 3 4 11 Drive administration etie ee ce et Re tn e Pt need s 115 3 4 11 1 TS SelectAXISVI uin Hed ete rao Hit a tarte dme Hed 115 3 4 11 2
148. t Description The function downloads a cam table in the drive motor EEPROM memory starting with address Load Address The Run Address parameter is required to compute the Next Run Address The function returns the next valid memory addresses for cam tables trough output parameters Next Load Address respectively Next Run Address If the values returned by the function 0 then there is no memory available The Load Address and Run Address for the first cam table downloaded are computed by EasyMotion Studio and displayed in the dialogue Memory Settings To open the dialogue Memory Settings select the appropriate application and in Application General Information press the button Memory Settings For the next cam tables if available the Load Address and Run Address are the values returned by the previous call function TS CamDownload parameters Next Load Address and Next Run Address The cam table description is read from the file Cam File The file is generated from EasyMotion Studio and has the extension cam Steps to follow when using cam tables 1 Create or import a cam table in EasyMotion Studio The cam table is saved by EasyMotion Studio in the application s directory 2 Download the cam table in the drive motor EEPROM memory with TS CamDownload vi 3 Initialize the cam table with function TS Caminitialization vi 4 Program the drive motor to operate as slave in electronic camming mode with TS SetCammingSlaveAbsolute
149. t 2007 1 TML LIB LabVIEW User Manual CSPD 12 5 MODE SP ee UPD Communication channel Figure 1 1 Using TML LIB LabVIEW to control a Technosoft intelligent drive from the PC computer Technosoft 2007 2 TML LIB LabVIEW User Manual 2 Getting started 2 1 Hardware installation For the hardware installation of the Technosoft drives motors see their user manual For drives motors setup you can connect your PC to any drive motor using an RS232 serial link Through this serial link you can access all the drives motors from the network Alternately you can connect your PC directly on the CAN bus network if it is equipped with one of the CAN interfaces supported by EasySetUp 2 2 Software installation In order to perform successfully the following software installations make sure that you have the Administrator rights 2 2 1 Installing EasySetUp On the TML LIB LabVIEW installation CD you ll find the setup for EasyMotion Studio Demo version This application includes a fully functional version of EasySetUp and a demo version of EasyMotion Studio Start the setup and follow the installation instructions 2 2 2 Installing TML LIB LabVIEW library Start the TML LIB LabVIEW setup and follow the installation instructions After library installation open the LabVIEW environment and add in the list VI Search Path the installation path of the library by default C Program Files Technosoft TML LIB LabVIEW Table 2 1 det
150. t 2007 109 TML LIB LabVIEW User Manual 3 4 10 Drive setup 3 4 10 1 TS LoadSetup vi Symbol Load Setup Return Setup Directory Prototype SHORT INT TS LoadSetup 4 CSTR Setup Directory Parameters Name Description Input Setup Directory Name of the directory where are the setup files Output The index associated to the setup Description The function loads a drive motor configuration setup in the PC application The configuration setup is generated from EasyMotion Studio or EasySetUp and stored in two files setup cfg and variables cfg With string Setup Directory you specify the absolute or relative path of the directory with the setup files The function returns an index associated to the configuration setup Use the value returned to associate the configuration setup with the corresponding axis Remark The function must be called for each configuration setup only once in your program in its initialization part Related functions TS SetupAxis vi T8 SetupGroup vi TS SetupBroadcast vi Associated examples all examples Technosoft 2007 110 TML LIB LabVIEW User Manual 3 4 10 2 TS SetupAxis vi Symbol Axis ID Setup EEEE Setup Index Axis Prototype LONG _TS_SetupAxis 8 UNSIGNED CHAR Axis ID SHORT INT Setup Index Parameters Name Description Axis ID Axis ID of the drive motor Input Setup Index Configuration index generated by TS LoadSetup Output TRUE
151. t status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an internal loop of the TS_SetEventOnSpeedRef vi function waiting for the event to occur If the parameter Wait Event NO_WAIT_EVENT you can check if the event occurred using the TS_CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period At the event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO_STOP if you do not want to stop the motion at event occurrence Related functions 5 CheckEvent vi and all other SetEvent functions Associated examples Example 12 Example 42 Technosoft 2007 66 TML_LIB_LabVIEW User Manual 3 4 3 10 TS SetEventOnTorqueRef vi Symbol Torque et Over Event Return Wait Event er Stop Tvpe Prototype LONG TS SetEventOnTorqueRef 216 SHORT INT Torque SHORT INT Over SHORT INT Wait Event SHORT INT Enable Stop Parameters Description Torque The torque reference value that triggers the event expressed in TML current units Input Over Specifies the condition tested Wait Event Specifies if the function waits the event occurrence Enable Stop Stop the motion when at event occurrence Output Return TRUE if no error FALSE if error Description It allows you to p
152. t table at an internal location where the reference is stored Remarks 1 The tables write operation should be done only once if the tables are stored into the EEPROM memory of the drive 2 careful when selecting the tables memory location as writing at incorrect addresses affect the correct operation of the drive Change the AD5 channel level in order to set a value that will choose which element to extract from the memory buffer Then run the application The motor will start a position profile with a position reference value according to the element extracted from the memory buffer Example 20 vi Diagram File Edit Operate Tools Browse Window Help 2 e 100000000 Drive Motion status TJOOOmoon Technosoft 2007 163 TML LIB LabVIEW User Manual Example 20 vi Technosoft 2007 164 TML LIB LabVIEW User Manual 4 21 Example 21 Setting the Digital External motion mode This example programs the drive to operate with external digital reference The external position reference is computed from pulse amp direction signals Run the application While the application is running apply pulses to the Pulse input of the drive IN 38 Set the Direction input IN 37 to low or high level in order to change motion direction Remark For this example you have to setup the drive to read the digital external reference from pulse amp direction inputs xam
153. ted examples Example 20 Example 36 Technosoft 2007 103 TML LIB LabVIEW User Manual 3 4 8 8 TS GetLastErrorText vi Symbol E t E Error Prototype TS GetLastErrorText 0 void Parameters Name Description Input Output A text related to the last occurred error Description The function returns a text related with the last occurred error during a TML LIB LabVIEW function execution You can visualize this text in order to see what the problem was Related functions Associated examples all Technosoft 2007 104 TML LIB LabVIEW User Manual 3 4 9 Data logger 3 4 9 1 TS SetupLogger vi Symbol Logger Period Logger Address Setup Logger Length Logger Return Array Addresses Count Addresses Prototype LONG TS SetupLogger 20 UNSIGNED SHORT INT Logger Address UNSIGNED SHORT INT Logger Length UNSIGNED SHORT INT Array Addresses UNSIGNED SHORT INT Count Address UNSIGNED SHORT INT Logger Period Parameters Description The address of the logger buffer in drive motor memory where data will be stored during logging Logger Length The length in words of the logger buffer Pointer to the array containing the drive motor memory addresses to be logged Logger Address Input Array Addresses Count Address The number of memory addresses to be logged Logger Period Time interval between two consecutive data logging expressed in 99 drive mo
154. the slave This is particularly useful when the slave must couple with a master running at high speed This feature is activated when the parameter Limit Value has a positive value and disabled when its value is zero Set Reference Base FROM_REFERENCE if you want the reference generator to compute the slave position starting from the actual values of the position and speed reference Set Reference Base FROM_MEASURE if you want the reference generator to compute the slave position starting from the actual values of the load motor position and speed When this option is used at the beginning of each new motion profile the position and speed reference are updated with the actual values of the load motor position and speed Remarks 1 The function requires drive motor position loop to be closed During the drive motor setup select Position at Control Mode and perform the position controller tuning 2 Use function block TS_SetGearingMaster vi to program a drive motor as master in electronic gearing 3 When the reference is read from second encoder or pulse amp direction inputs you don t need to program a drive motor as master in electronic gearing Related functions TS SetGearingMaster vi TS SetMasterResolution vi Associated examples Example 31 Technosoft 2007 38 TML_LIB_ LabVIEW User Manual 3 4 1 19 TS SetCammingMaster vi Symbol Move Moment Group Slave ID Return Reference Base Enable Prototype LONG TS Set
155. the digital input goes high Status IO HIGH or the digital input goes low Status IO LOW If the parameter Wait Event WAIT EVENT the function tests continuously the event status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an internal loop of the TS SetEventOnDigitallnput vi function waiting for the event to occur If the parameter WaitEvent NO WAIT EVENT you can check if the event occurred using the TS CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period At the event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO STOP if you do not want to stop the motion at event occurrence Related functions 5 CheckEvent vi and all other SetEvent functions Associated examples Example 5 Example 8 Example 15 Technosoft 2007 70 TML LIB LabVIEW User Manual 3 4 3 14 TS SetEventOnHomelnput vi Status Wait Event Return Enable Stop LONG TS SetEventOnHomelnput 12 UNSIGNED CHAR Status SHORT INT Wait Event SHORT INT Enable Stop Symbol Prototype Parameters Name Description Status Input port status High low Input Wait Event Specifies if the function waits the event occurrence Enable Stop Stop the motion when at event occurrence Output R
156. the home input is captured This example implements a profiled speed movement until the home input capture is detected At that moment the motion is stopped The VI front panel allows you to setup the parameters of the speed profile While the application is running set the digital input port IN 38 to low in order to stop the motor Ib Example 15 vi Diagram File Edit Operate Tools Browse Window Help nod Motion Speed SEM MS D Technosoft 2007 153 TML LIB LabVIEW User Manual Example 15 vi em Technosoft 2007 154 TML LIB LabVIEW User Manual 4 16 16 Different motions based on the status of two digital inputs of the drive This example implements different movements based on the status of two digital input ports of the drive The code continuously read the status of these ports and based on their values executes a speed profile if first input is set to low a position profile if second input is set to low or stops the motion and exit if both inputs are set to low at the same time The VI front panel allows you to setup the parameters of the position profile and speed profile While the application is running set to low IN 37 in order to execute a position profile or set to low the IN 38 in order to execute a speed profile Then set to low both the IN 37 and IN 38 at the same time in order to stop the motion i Example 16 vi Diagram
157. tionComplete vi eee 58 3 4 3 3 TS_SetEventOnMotorPosition vi 60 3 4 3 4 TS_SetEventOnLoadPosition vi 3 61 3 4 3 5 TS _ 5 62 3 4 3 6 TS_SetEventOnLoadSpeed vi ss 63 3 4 3 7 TS_SetEventOnTime vi 64 3 4 3 8 TS SetEventOnPositionRef vi 4 0200000 65 3 4 3 9 TS SetEventOnSpeedhef vi nennen 66 3 4 3 10 TS 5 67 3 4 3 11 TS SetEventOnEncoderindex vi 68 3 4 3 12 TS SetEventOnLimitSwitch vi 69 3 4 3 13 TS 5 2 2 ss 70 3 4 3 14 TS SetEventOnHomelnput vi iii 71 3 44 TML jumps and function calls eene 72 3 4 4 1 TS COTON EE 72 3 4 4 2 TS GOTO LEabelVvi 73 3 4 4 3 PSG AELISVIU es tesi te tote seu M ne ade 74 3 4 4 4 TS CALL Label heit sehen cit ten 75 3 4 4 5 TS CancelableCALL vi in 76 3 4 4 6 TS CancelableCALL enne 77 3 4 4 7 TSSABOBR TIVI into tee niit ates da Mia toyed Se tt 78 3 4 5 ite e b ettet eg tt etr sta 79 3 4 5 1 TS Setuplnput Vis aire rm liste n a dag
158. tor case The output of EasySetUp is a set of setup data which can be downloaded to the drive motor EEPROM or saved on your PC for later use A setup contains all the information needed to configure and parameterize a Technosoft drive motor This information is preserved in the drive motor EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive motor and is used during runtime The reciprocal is also possible i e to retrieve the complete setup data from a drive motor EEPROM previously programmed Steps to follow for commissioning a Technosoft drive motor Step 1 Start EasySetUp From Windows Start menu execute Start Programs EasySetUp EasySetUp or Start Programs EasyMotion Studio EasySetUp depending on which installation package you have used Step 2 Establish communication EasySetUp starts with an empty window from where you can create a New setup Open a previously created setup which was saved on your PC or Upload the setup from the drive motor Before selection one of the above options you need to establish the communication with the drive motor you want to commission Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive motor and do the connections Power on the drive motor and then close the Communication Setup dialogue w
159. tor time units Output return TRUE if no error FALSE if error Description The function sets the parameters of the data logger on the active axis Use this function if you want to perform data logging at the drive motor level during the motion execution and analyze it at the PC level Set the Logger Address parameter with the starting address of the drive motor data memory buffer where a number of Logger Length data points of logged data will be stored The addresses of TML data logged are stored in an array of length Count Address Parameter Array Addresses points to the beginning of the array where the uploaded data will be stored Remark The number of data sets which can be stored will be determined as the integer part of the ratio Logger Length Count Address The parameter Logger Period sets how often the TML data is logged The period can have any value between 1 and 7FFF Remark Be careful when using the data logger functions Incorrect settings related to data logger buffer location and size may lead to improper operation of the drive with unpredictable results Related functions TS StartLogger vi TS_UploadLoggerResults vi TS CheckLoggerStatus vi Associated examples Example 33 Technosoft 2007 105 TML LIB LabVIEW User Manual 3 4 9 2 TS StartLogger vi Symbol Log Buffer Address Stat Return Logger Type mia LONG TS StartLogger 8 UNSIGNED SHORT INT Logger Address UNSIGNED CHAR Lo
160. ts PT Counter The integrity counter for the current PT point Output return TRUE if no error FALSE if error Description The function sends a PT point to the drive motor Each point specifies the desired Position and Time Between the PT points the reference generator performs a linear interpolation The PT point also includes a 7 bit integrity counter read from parameter PT Counter The integrity counter value must be incremented by the host by one each time a new PT point is sent to the drive motor Related functions TS PTSetup vi TS SendPTFirstPoint vi Associated examples Technosoft 2007 35 TML LIB LabVIEW User Manual 3 4 1 17 TS SetGearingMaster vi Symbol Group Slave ID Reference Base Enable Set Slave Position Move Moment Return Prototype LONG TS SetGearingMaster 24 SHORT INT Group UNSIGNED CHAR Slave ID SHORT INT Reference Base SHORT INT Enable UNSIGNED CHAR Set Slave Pos SHORT INT Move Moment Parameters Name Description Specifies if the master sends its position to one slave or a group of Group slaves Slave ID The axis ID of the slave or group ID of group of slaves Input Reference Base Specifies if the master sends its load position or its position reference Enable Enable disables the master in electronic gearing Set Slave Pos Specify if the master is initializing the slave s Move Moment Defines the moment when the settings are activated Output
161. ts status at connectors level 0 if input is low and 1 if input is high even when the inputs are inverted The variable Variable Name is of type integer and must be defined with EasyMotion Studio before generating the setup files Related functions TS SetlndexCapture vi TS SetNegativelLimitSwitch vi TS SetPositiveLimitSwitch vi Associated examples Example 37 Represents the firmware versions FOOOH FO20H F005H F900H or later on Technosoft drives motors IDM240 IDM640 IDS240 IDS640 ISCM4805 ISCM8005 IBL2403 IM23x models IS and MA Represents the firmware versions F500A or later on Technosoft drives IDM240 CANopen IDM640 CANopen IDS640 CANopen Technosoft 2007 84 TML_LIB_LabVIEW User Manual 3 4 5 7 TS SetMultipleOutputs vi Symbol Variable Name i Status igi Prototype BOOL TML EXPORT TS SetMultipleOutputs CSTR Variable Name SHORT INT Status Parameters Name Description Intermediary TML variable necessary to store the outputs status to Variable Name Input be set on the drive motor Status The value with which the outputs are set Output TRUE if no error FALSE if error Description The function sets simultaneous more outputs of the drive motor with the value of parameter Status Its value is transferred and stored on the drive in pszVarName TML variable and from there is used to set the outputs Remark The function is designed for drives motors programmed with firmware version FAx
162. up commands e etc The TML LIB LabVIEW library is the tool that helps you to handle the process of motion control application implementation on a PC computer at a high level without the need to write compile TML code A central element of the library is the communication kernel which is responsible of correct opening of the communication channel serial RS 232 or RS 485 CAN bus or Ethernet as well as of TML messages handling This includes handling of the specific communication protocol for each of these channels Consequently each application you ll develop starts with the opening of the communication i e calling the TS OpenChannel vi subVI The application must end with the TS CloseChannel vi subVI execution You ll be able to handle multiple axis applications from the PC Besides the drive motor setup with EasySetUp or EasyMotion Studio you ll also need to indicate some basic drive information for correct usage of the library functions Thus for each drive that is installed in the system you ll need to execute the TS SetupAxis vi subVI indicating the axis ID and configuration setup Such information will be used for some functions of the library in order to check if there are incompatibilities between the drive and the operation to be executed as an example avoiding issuing an Output port command to a port which is an input port on that drive Note that besides setting up individual axes it is also possible to setup group
163. use the previously value set for acceleration Move Moment Defines the moment when the motion is started Specifies how the motion reference is computed from actual values of Reference Base position and speed reference or from actual values of load motor position and speed Output Description The function programs an absolute positioning with trapezoidal speed profile The motion is described through Position parameter for position to reach Speed for slew speed and Acceleration for acceleration deceleration rate The position to reach can be positive or negative The Speed and Acceleration can be only positive Once set the motion parameters are memorized on the drive motor If you intend to use values previously defined for the acceleration rate and or the velocity you don t need to send their values again in the following trapezoidal profiles Set to zero the value of speed and or acceleration and the drive motor will use the values previously defined this option reduces the TML code generated by this function The motion is executed e Immediately when Move Moment UPDATE_IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of the movement Use the TS Updatelmmediate vi or the TS UpdateOnEvent vi functions in order to activate the movement Set
164. ventOnLoadSpeed 220 DOUBLE Speed SHORT INT Over SHORT INT Wait Event SHORT INT EnableStop Parameters Name Description The speed value that triggers the event expressed in drive motor internal speed units Input Over Specifies the condition tested Wait Event Specifies if the function waits the event occurrence Enable Stop Stop the motion when at event occurrence Output return TRUE if no error FALSE if error Speed Description It allows you to program an event function of load speed The events can be when the load speed is over Over OVER or under Over BELOW the Speed parameter If the Wait Event WAIT EVENT the function tests continuously the event status and waits until the event occurs There is a drawback of this situation if the event will not occur due to some unexpected problems In such a case the program hangs up in an internal loop of the TS SetEventOnLoadSpeed vi waiting for the event to occur If the parameter Wait Event NO WAIT EVENT you can check if the event occurred using the TS CheckEvent vi function In this way you can detect if the event does not occur and eventually exit from the test loop after a given time period At event occurrence the motion is stopped if the parameter Enable Stop STOP Set Enable Stop NO STOP if you do not want to stop the motion at event occurrence Related functions TS CheckkEvent vi and all other SetEvent functions Associated examples Example
165. vi or TS SetCammingSlaveRelative vi Select the cam table used with the parameter RunAddress Technosoft 2007 44 TML LIB LabVIEW User Manual Related functions TS SetCammingSlaveRelative vi TS_SetCammingSlaveAbsolute vi TS_Camlnitialization vi Associated examples Example 32 Technosoft 2007 45 TML_LIB_LabVIEW User Manual 3 4 1 23 TS Caminitialization vi Load Address Cam Run Address Init e LONG TS Caminitialization UNSIGNED SHORT INT Load Address UNSIGNED SHORT INT Run Address Symbol Prototype Parameters Name Description Load Address EEPROM memory address where the cam table is downloaded In pat Run Address RAM address where the cam table is copied at run time Output TRUE if no error FALSE if error Description The function copies a cam table from drive motor EEPROM memory in the RAM memory at address Run Address The cam table was previously downloaded with function TS CamDownload vi at EEPROM address Load Address The function must be called for each cam table used by the application Related functions TS SetCammingSlaveRelative vi T5 SetCammingSlaveAbsolute vi TS CamDownload vi Associated examples Example 32 Technosoft 2007 46 TML LIB LabVIEW User Manual 3 4 1 24 TS SetMasterResolution Set Master Resolution Return LONG TS SetMasterResolution 4 LONG Master Resolution Symbol Prototype Parameters Name De
166. with a cam offset of 180 degrees will make possible to execute a cam table defined for 360 degrees of the master in the last 180 degrees You can also compress extend the cam table output Specify through input Mult Output Factor the correction factor by which the cam table output is multiplied This feature addresses the applications where the slaves must execute different position commands at each master cycle all having the same profile defined through a cam table In this case the drive motor is programmed with a unique normalized cam profile and the cam table output is multiplied with the relative position command updated at each master cycle If you intend to use the default or previously defined values for the Mult Input Factor Mult Output Factor and or Offset From Master you don t need to send their values Set to zero their values if you want the drive motor to use the values previously defined with other commands this option reduces the TML code generated by this function Related functions TS CamDownload vi TS Camlnitialization vi TS SetCammingSlaveAbsolute vi TS SetCammingMaster vi TS SetMasterResolution vi Associated examples Example 32 Technosoft 2007 41 TML_LIB_LabVIEW User Manual 3 4 1 21 TS SetCammingSlaveAbsolute vi Symbol Mult Output Factor Run Address Limit Variation Reference Base Enable Move Moment Offset From Master Mult Input Factor Prototype LONG TS SetCammingSlaveAbsolute
167. x For drives motors programmed with firmware version FBxx use the TS SetMultipleOutputs2 function The outputs are e Ready output set by bit 15 of pszVarName e Error output set by bit 14 of pszVarName e General purpose outputs 31 30 29 28 set by bits 2 1 and 0 of pszVarName The outputs are set as follows low if the corresponding bit in the variable is 0 and high if the corresponding bit in the variable is 1 The other bits of the variable are not used Remark If one of these outputs is inverted inside the drive motor its command is inverted Hence the outputs are always set at connectors level according with the bits values low if bit is 0 and high if bit is 1 even when the outputs are inverted CAUTION Do not use TS SetMultipleOututs vi if any of the 6 outputs mentioned is not on the list of available outputs of your drive motor There are products that use some of these outputs internally for other purposes Attempting to change these lines status may harm your product Related functions TS SetlndexCapture vi TS SetNegativelLimitSwitch vi TS SetPositiveLimitSwitch vi Associated examples Example 37 Represents the firmware versions FOOOH FO20H FOO5H F900H or later on Technosoft drives motors IDM240 IDM640 IDS240 IDS640 ISCM4805 ISCM8005 IBL2403 IM23x models IS and MA Represents the firmware versions F500A or later on Technosoft drives IDM240 CANopen IDM640 CANopen IDS640 CANopen
168. xample 32 Example 35 Example 39 Technosoft 2007 53 TML LIB LabVIEW User Manual 3 4 2 6 TS SetTargetPositionToActual vi Symbol Prototype LONG _TS_SetTargetPositionToActual 0 void Parameters Name Description eT Output return TRUE if no error FALSE if error Description The function sets the value of the target position the position reference to the value of the actual load position i e TROS APOS_LD The command may be used in closed loop systems when the load motor is still following a hard stop to reposition the target position to the actual load position Remark The command is automatically done if the next motion mode is set with Reference Base FROM_MEASURE In this case the target position and speed are both updated with the actual values of the load position and respectively load speed TPOS APOS_LD and TSPD ASPD_LD Related functions Associated examples Example 28 Technosoft 2007 54 TML_LIB_LabVIEW User Manual 3 4 2 7 TS SetCurrent vi Symbol Current Value Return LONG TS SetCurrent 4 SHORT INT Current Value Prototype Parameters Name Description input Current Value Value at which the motor current reference is set expressed in drive motor internal current units Output TRUE if no error FALSE if error Description The function sets the motor run current with Current Value The run current is used by the d
169. y when Move Moment UPDATE IMMEDIATE e When a programmed event occurs if Move Moment UPDATE ON EVENT e f you select Move Moment UPDATE NONE the movement is parameterized but does not execute You ll need to issue an update command to determine the execution of the movement Use the TS Updatelmmediate vi or the TS UpdateOnEvent vi functions in order to activate the movement Set Reference Base FROM REFERENCE if you want the reference generator to compute the motion profile starting from the actual values of the position and speed reference Use this option for example if successive standard relative moves must be executed and the final target position should represent exactly the sum of the individual commands Set Reference Base FROM MEASURE if you want the reference generator to compute the motion profile starting from the actual values of the load motor position and speed When this option is used at the beginning of each new motion profile the position and speed reference are updated with the actual values of the load motor position and speed Technosoft 2007 18 TML LIB LabVIEW User Manual Remark In open loop control of steppers this option is ignored because there is no position and or speed feedback Related functions TS MoveRelative vi TS MoveAbsolute vi TS MoveSCurveAbsolute vi TS MoveSCurveRelative vi Associated examples Example 1 Example 2 Example 3 Example 4 Example 5 Example 7 Example 9 Example 1
170. yMotion Studio with menu command Application Motion Build and is saved in the application directory You can download several such applications in different locations of the drive internal memory and execute them according to your application status with the TS GOTO vi or TS CALL vi functions Related functions TS GOTO vi TS CALL vi Associated examples Example 29 Example 30 Technosoft 2007 97 TML LIB LabVIEW User Manual 3 4 8 2 TS Execute vi Symbol Commands xecutd Return Prototype LONG TS Execute 4 CSTR Commands Parameters Name Description Input String containing the TML source code to be executed Output return TRUE if no error FALSE if error Description The function executes the TML commands entered in TML source code format as is entered in the Command Interpreter from a string containing that code Use this function if you want to send a specific motion sequence directly written in TML language Build a string Commands containing the source TML code and then call the TS function in order to compile the code and to send on line the associated TML object commands If a compile error occurs the function returns a FALSE otherwise it returns TRUE Related functions TS ExecuteScript vi Associated examples Example 9 Example 10 Example 11 Example 13 Example 20 Example 25 Example 39 Example 41 Technosoft 2007 98 TML LIB LabVIEW User Manual

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