Transcript ACS-Tech 80, Inc.

ACS-Tech 80, Inc.
SPiiPlus Control Module Overview
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Copyright 2001 ACS-Tech80
SPiiPlus Control Module (CM)
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Copyright 2001 ACS-Tech80
SPiiPlus Control Module
The CM combines an advanced SpiiPlus
motion controller, up to 3 digital drives and a
power supply in a single standalone package
that can operate in a larger machine or act as
the entire machine control.
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Copyright 2001 ACS-Tech80
SPiiPlus Control Module
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Same software tools as the SPiiPlusPCI
Full Simulator capabilities
20 kHz servo update rate on :
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Position loop
Velocity loop
Current loop
Commutation
On board Sin/Cos multipliers
Hardware base position compare and capture
Available Modbus driver
Expansion up to a total of 8 axis via the HSSI interface
Copyright 2001 ACS-Tech80
SPiiPlus CM - Hardware Overview
Digital drives:
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Supply voltage:
24V for the logic section.
Single-phase 110-265VAC or 110-375VDC or threephase 230VAC.
Current levels: 5A cont./10A peak or 10Acont./20A
peak (sine wave amplitude).
Sophisticated current control: separate current loops
for the torque-producing and the field-producing
current components.
True space vector modulation: increases the linear
operation range of the digital drive by more than
15%, achieving higher velocity, lower position
error, and reduced current at high velocities.
Copyright 2001 ACS-Tech80
SPiiPlus CM - Hardware Overview
I/O
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Safety inputs: one dedicated E-stop,
left limit and right limit per axis.
General purpose digital I/O: eight/eight, 5Vdc or
24Vdc single-ended, opto-isolated, can be userconfigured as sink or source. Expandable to
256/252 points via the HSSI interface
Position Event Generator (PEG) digital outputs:one
PEG pulse per X,Y,Z,T axis (each pulse consumes
one of the eight general purpose digital outputs).
Four PEG states per X, Y axes.
Registration Mark (position capture) digital inputs: four
(each consumes one of the eight general purpose
digital inputs), two per X and Y axis.
Mechanical brake outputs: four (can be used as
general purpose outputs), single-ended, 1A, optoisolated, source-type only.
Copyright 2001 ACS-Tech80
SPiiPlus CM - Hardware Overview
I/O (cont.)
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Analog inputs: six, differential, ±1.25V or ±10V, 14-bit
resolution. each SIN-COS encoder consumes two analog
inputs.
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Analog outputs: two, single ended, 10-bit resolution.
Communication channels
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RS-232: up to 115,000 baud.
RS-232/422/485: up to 115,000 baud.
Ethernet: TCP/IP 10/100 Mb/sec.
CANopen…future
Copyright 2001 ACS-Tech80
SPiiPlus CM - Control Architecture
 One main processor (MPU) - executes high
level tasks – profile generation, communication, interface,
programs, diagnostics, etc.
 One (slaved) servo processor (SPii) - per two axes,
executes real-time control algorithms at 20kHz.
MPU
Interaction
with
host computer
586/Pentium
MPU cycle
0.5, 1, 2 msec
Flash memory
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Copyright 2001 ACS-Tech80
SPii T/D
SPii Z/C
SPii Y/B
SPii X/A
SPii cycle
50µsec
Interaction
with real world
SPiiPlus CM – MPU Overview
 MPU is Pentium-like x86-based processor
in standard PC/104+ format.
 4 & 8 axis version provided with 300 MHz
processor
 On-board RTOS
 MPU executes compiled programs in
programmable cycle time (0.5, 1, or 2 ms).
 Large memory capacities: 8Mb RAM including
1Mb for user programs and 4Mb nonvolatile
(flash) memory.
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Copyright 2001 ACS-Tech80
SPii Overview
 SPii = Servo Processor, second generation.
 Proprietary ASIC designed by ACS-Tech80
specifically for motion control.
 Each SPii controls two axes.
 Main characteristics:
 Integrated RISC + all peripherals.
 Powerful CPU with 120 MHz, 24-bit bus.
 Very cost effective.
 Maximum flexibility – customizable real-time
control algorithms.
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Copyright 2001 ACS-Tech80
SPii Capabilities (cont.)
High Speed Hardware Based Position Event Generator
(PEG)
 PEG triggers external events via outputs at precise
positions with submicrosecond delay.
 Provides accuracy of ±1 count at up to 5,000,000
encoder quadrature counts/second.
 Application examples: printing, AOI, laser cutting.
Hardware Position Registration (MARK)
 MARK (also known as Position Capture) provides highspeed and high accuracy position registration
capability.
 MARK provides the ability to move an axis to a target
relative to a registration mark.
 Once an axis is moving and MARK is detected, the
motion profile can be smoothly modified on-the-fly to
reach a new target position.
 Application example: Packaging.
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Copyright 2001 ACS-Tech80
SPii Capabilities (cont.)
Software Sinusoidal Commutation
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Updates at 20kHz - provides very smooth operation.
High-Speed Synchronous Serial Interface (HSSI)
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Cost effective way to implement a distributed system and
expand I/Os through external modules. Uses include:
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Laser interferometer interface
Absolute feedback (for example, resolver) interface
Any sensor with serial/parallel communication
Each SPii has a 2.5 MHz synchronous serial bus with
4 x 16 bit inputs and outputs and a refresh rate of 20kHz.
Based on RS-485 design.
SPii communicates with HSSI modules through standard
Ethernet cable (maximum length 20 meters).
HSSI is a simple protocol enabling users to build
customized expansion modules.
Copyright 2001 ACS-Tech80
SPiiPlus CM - Operation Options
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HSSI-IO16 - Expansion Module
 Cost effective way to implement
distributed I/O system
 16 opto-isolated inputs
 16 opto-isolated outputs
 Up to an additional 256-inputs and
252-outputs by daisy chaining modules
 Module identification and diagnostics
including LEDs
 DIN rail or surface mount
 Simple programming using SPiiPlus
Library or ACSPL+
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Copyright 2001 ACS-Tech80
HSSI-ED2 Expansion Module
 Interface to two remote drivers. Cost effective way to
implement a distributed motion system
 Includes:
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Two driver interfaces – with/without
SW commutation
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Two quadrature encoder
interfaces (A, B, I)
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Limit switches interface
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General purpose I/O interface.
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Diagnostics including LEDs
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DIN rail or surface mount
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Simple programming using
SPiiPlus Library or ACSPL+
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Copyright 2001 ACS-Tech80
How to order – SPiiPlus Control Module
SPiiPlus CM- 3 – A – E- M3 – H4
CM: Control Module
Number of Drives: 1,2 or 3
Current rating: A 5/10 amp
B 10/20 amp
Communication: Ethernet & 2 RS-232
No. of sin/cos multipliers: M0, M1, M2, M3
No. of HSSI Channels: blank or H4
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Copyright 2001 ACS-Tech80
How to order – SPiiPlus Control Module
SPiiPlus CM- ACC
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Accessory Kit
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Includes:
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Dsub mating connectors
Phoenix mating connectors
Must be ordered with each Control Module
unless the OEM is setup to work without it.
Copyright 2001 ACS-Tech80
Thank you.
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Copyright 2001 ACS-Tech80