Table of Contents - TG Drives

Software System
GENERAL
This section is intended to introduce the user to the fundamentals of the DMC 2
programming and software system. It contains the following parts:
• Definitions Important terms are explained.
• System architecture Overview of the DMC 2 software system.
• Timing and execution flow Timing and flow aspects important to the
programmer.
• Event triggered programming The recommended programming technique for
the DMC 2 .
• Function block diagram Functionality blocks are described.
• Load New Firmware Download new Firmware to DMC 2 .
NEW FEATURES DMC 2 5.0
• Increased number of program lines , 8191.
• Increased number of user registers , 4096.
• Fieldbus support using Anybus-S modules from HMS.
• Endat interface for absolute encoders.
• Incremental encoder interface.
• Counter function for external event counting.
• Inverted conditional operators such as IfNot,IFAbsNot,added.
• Indexed subroutine call added.
• More connection possibilities for debug use.
• Software definition of rotational direction.
• Multiple commutation sources.
REMARKS
• The PL execution speed is much higher in a DMC2 (10 – 15 lines / servocycle),
than in a DMC1, thus it is essential that PL2 program use explicit lines to wait
for hardware, this may not have been a problem in the DMC1 because
execution speed was between 4 and 1 PL lines/servo-cycle.
• DMC1 and new DMC 2 can only be synchronized with respect to I/O. The
resolver can not be interchanged between DMC1 and new DMC 2 , because the
resolver system operates differently.
DEFINITIONS
PL2 The proprietary programming language for creating DMC 2
application programs. Consists of PL2 statements. The language
is register-based and line oriented. Most functions are accessed
by manipulation of register values. Resides in FLASHPROM
Firmware The system software of the DMC 2 , performing hardware
manipulation, interpretation of the PL2 code and execution of
predefined functions.
Function block Firmware functions that perform a certain predefined user
function, e.g. creating a movement profile, based on preset
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001 11