Table of Contents - TG Drives

14
B002
Timing and execution flow
TIMING AND EXECUTION FLOW
Servo cycle
Admin task
PL2 code task
Handle Resolver Inputs...
Handle Digital Inputs and evaluate
interrupt flags
Do all Profile and Gear/Cam
calculations
Do Regulator calculations
Do much more...
Handle all Analog Outputs and set
the Current references
Handle the Serial communication
Run Interpreter and execute the
PL2 code
Figure 2. DMC servo cycle.
The firmware executes in two ways:
0
1 ms
SOFTWARE SYSTEM
• One is clock dependent, executing once each system clock cycle. This is
called a servo cycle. (Figure 2.). It handles all real time critical tasks, such as
velocity and position measurement, regulators, motion profiles, cams and gear
functions. It also updates real time outputs, i.e. analog outputs for monitoring
purposes.
i
These functions are always performed, regardless of whether an
application is running or not.
• The rest of the firmware execution is done in background. One task is handling
the serial communication. Another task is interpreting and executing the PL2
code.
It is important to realize that most real-time dependent functions are completely
executing in FW. Consider the profile generator. It produces new values every ms,
but it does not require any PL2 involvement once the initial profile statement has
been executed. From this point onwards, the FW is executing all related
calculations within the servo cycle and the PL2 code may perform other tasks
concurrently. Another example is the output of real time data to the analog outputs.
Once the PL2 code has established a ”connection”, for example, from actual speed
to an analog output, the FW performs the real time update of the analog output.
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001