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program. For details regarding the .sw file format and how it can be programmed into a drive, see
paragraph 4.5
5.3. Combining CANopen /or other host with TML
Due to its embedded motion controller, an IPS110 offers many programming solutions that may
simplify a lot the task of a CANopen master. This paragraph overviews a set of advanced
programming features which arise when combining TML programming at drive level with
CANopen master control. A detailed description of these advanced programming features is
included in the CANopen Programming (part no. P091.063.CANopen.UM.xxxx) manual. All
features presented below require usage of EasyMotion Studio as TML programming tool
Remark: If you don't use the advanced features presented below you don't need EasyMotion
Studio. In this case the IPS110 is treated like a standard CANopen drive, whose setup is done
using EasySetUp.
5.3.1. Using TML Functions to Split Motion between Master and Drives
With Technosoft intelligent drives you can really distribute the intelligence between a CANopen
master and the drives in complex multi-axis applications. Instead of trying to command each step
of an axis movement, you can program the drives using TML to execute complex tasks and
inform the master when these are done. Thus for each axis, the master task may be reduced at:
calling TML functions (with possibility to abort their execution) stored in the drives EEPROM and
waiting for a message, which confirms the finalization of the TML functions execution.
5.3.2. Executing TML programs
The distributed control concept can go on step further. You may prepare and download into a
drive a complete TML program including functions, homing procedures
execution can be started by simply writing a value in a dedicated object,
5.3.3. Loading Automatically Cam Tables Defined in EasyMotion Studio
The IPS110 CAN executions offers others motion modes like
camming, external modes with analogue or digital reference etc. When electronic camming is
used, the cam tables can be loaded in the following ways:
a) The master downloads the cam points into the drive active RAM memory after each power
on;
b) The cam points are stored in the drive EEPROM and the master commands their copy into
the active RAM memory
c) The cam points are stored in the drive EEPROM and during the drive initialization (transition
to Ready to Switch ON status) are automatically copied from EEPROM to the active RAM
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The customization of the interrupt service routines and homing routines is available only forIPS110 CAN executions
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Optional for the IPS110 CANopen execution
© Technosoft 2007
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: electronic gearing, electronic
54
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, etc. The TML program
IPS110 Technical Reference
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