Transcript DT Korea Power PMAC Presentation 2013

㈜ 델타타우코리아
2013.08
Board Level Controllers
MACRO
Welcome to
PMAC PCI
DELTA TAU
Turbo PMAC2 Ultralite
with MACRO Peripherals
Data Systems, Inc.
PMAC VME
PMAC PC/104
System Level Controllers
CNC Systems
Featuring
PMAC
Programmable Multi Axis Controller
UMAC
Software
UMAC
Advantage 900
Universal Machine and Automation Controller
USB2/
Ethernet
Geo Brick Drive
(Intelligent Amplifier)
and
7th Generation
Facility
Amplifiers
Power PMAC
Geo Drives
3U
Amplifiers
Power PMAC
3U CPU
Quad
Amplifier
History:
General ‘76-’81
General + Motion Control ‘81-’85
Motion Control Only ‘85 Onward
Motion Control Systems, N.C. ‘95
Yearly Consolidated Turnover:
Approx. $65 million total
Financing:
Self Financed – Independently Owned
Number of Employees:
Over 200 Worldwide
Facilities:
120,000 sq. ft (approx. 12,000 sq. m.) since ‘99
Excellent Production and R&D Facility
Operation:
ISO-9001-2008 Certified (Dec. ‘06)
Automated Inventory Control (Bar coding)
New SMT Assembly Line (Lead-free, RoHS)
Automated Visual and X-Ray Inspection
Equipment for Automatic In-Circuit Testing
Updated/Semi-Automated Functional Testing
Test Results and Date Code Traceability
The Sun Never Sets On Delta Tau Sales And Service Offices Across The Globe!
DELTA TAU
International
DELTA TAU
U.K.
PMAC-Japan
DELTA TAU
Europa,
Switzerland
Tokyo
DELTA TAU
Korea
DELTA TAU
China
DELTA TAU
Headquarters
DELTA TAU
India
21314 Lassen Street
Chatsworth, CA. 91311
www.deltatau.com
- Headquarters
- Branch Offices
- Technical Centers
- Distributors & Integrators
세계 최고의 모션제어기술을 이끌어 가는
다양하고 전문화된 엔지니어링 서비스로 고객과 함께 성장합니다.
모션콘트롤 제품의 설계 및 연구개발
• 새로운 개념의 시스템 구축을 위한 신기술 개발 및 적용연구
• 사용자 편의를 위한 다양한 인터페이스 및 옵션기능 개발 (하드웨어, 소프트웨어)
• 경제형 고성능 제어기 공급을 위한 수입제품의 국산화 개발
엔지니어링 서비스 (하드웨어/소프트웨어 개발 업무)
• 최적의 시스템 구축을 위한 Motion Control 관련 Consulting 업무
• 안정되고 신속한 장비 개발을 위한 하드웨어, 소프트웨어 설계 및 제작 서비스
- 풍부한 경험을 바탕으로 기본설계, 제작 및 최종사양을 만족시킵니다.
• 다양한 유/무상 교육서비스를 제공합니다.
모션 콘트롤러 판매 및 국내 A/S
• 다양한 PMAC제품 군 및 UMAC 시스템 판매
• 고속 고정도 장비에 적합한 서보 앰프 및 관련부품 판매
• 판매제품의 자체 Repair 기술을 확보하여 수리기간 및 비용이 절감됩니다.
•하드웨어 제품 개발
•제품테스트 및 AS 업무
•기술 교육 담당
:
:
•수출입 관련 업무
•입출고 관련 일반 업무
•재정 관련 업무
•소프트웨어 개발업무
•기술교육 지원 업무
•장비개발 프로젝트 업무
(1994)
(1990)
(1997)
Optical Servo/IO Control
(2007)
(2000)
3U Modular Controller (32 Axis)
Low Cost Turbo PMAC2 (4/8 Axis)
(2012)
Fully Integrated Compact Controller /
Ethernet based / PCI Express
(Mechatrolink-3, Direct PWM, +/-10V)
(2010)
Linux Based Motion Controller
CEM-Clipper
CEM104/
Combo (for mobile robot)
Alcon ………..……………….…………………Laser Eye Surgery
Amada………………………………………….Metal Processing
American National Can ……………………..Labeling
Applied Materials …………………………….Semiconductor Manufacturing
ATS (Canada) …………………………………Custom machine manufacture
Axcelis………………………………………….Wafer Handling
Blue Print Automation ………………………Packaging Machine OEM
Boeing ………………………...……………….Manufacturing
Brooks PRI …………………………..……… Wafer Handling
Bryant Grinder …………………………...…..NC, ID/OD Precision Grinders
Cincinnati Milacron ………………………….Viking Grinder
Coburn Optical ……………...……………….Lens Grinding
Cooper Tire …………………..………………Tire Manufacturing
Dover Instruments ...…..……………………Manufacturing / Inspection
Flow International……………………………Water Jet Cutting
G.E. Aerospace ………………..…………….Flight Simulation
G.E. Aircraft ..….………………………..……EDM & Machining
G.E. Medical ……………………………..…...M.R.I. Machine
General Dynamics ……….…………………Manufacturing
General Tire …………………….……………Tire Manufacturing
Georgia Pacific ………………………………Paper Handling
Gilette ………………..………………………..Packaging / Manufacturing
Grinding Machines ………..……………..…Silicon wafer grinding
Hormel …………………………………..…... Food Processing
Hewlett Packard ………….…………………Manufacturing
Hitachi ……………………………………….. Manufacturing
IBM …………………….………………………Inspection & I.C. Manufacturing
Kodak ……………………………..…………..Film Handling and Packaging
Lawrence Livermore National Lab. ..…….Inspection
LG………………………………………………LCD Manufacturing
Lockheed …………………………………..…Manufacturing
Loh ……………………………………………..Optical Lens Grinding
Meyer Machine Tool ………………………...EDM for turbine blade mfg
M & M / Mars ………………………………….Packaging
National Institute of Science and Tech. …Precision Machining
Paper Conversion Machinery Co. …..……Paper Handling
Rank Taylor Hobson …………….….………Lens Grinding
Samsung …………………………………….. LCD Manufacturing and Inspection
SE Huffman …………………….…….………6 Axis NC Precision Grinders
Siemens …………………….………….……..PLC’s
Scott Paper …………………………….…….Packaging / Paper Handling
SIG …………….………………………….……Packaging
Tappistron …………….………………….…..Textile Tufting Machine
Varian…………………………………………..Wafer Handling
3M ……………………….………………….….Film/Tape Handling & Packaging
Semiconductor Manufacturing:
Wafer Handling, Slicing and Wire Bonding
Aerospace:
Flight Simulations, Machine Tool, Manufacturing
Machine Tool:
Mills, Lathes, Grinder, EDM, Water Jet, Turning Center, Laser Cutting,
Bending, Punching
Manufacturing:
Optical Grinding, Sewing, Turbine Blades
Positioning:
Telescope, Inspection, Sub-Micron, DNA Sampling
Medical Equipment:
M.R.I Machine, Laser Eye Surgery, Optical Surface Grinding
Material Handling:
Mixing, Cutting, Packaging, Conveyor Belt Synchronization
Assembly:
Pick & Place, Process Production, Robot Control
Specialty Machinery:
Robotics, LCD Manufacturing and Inspection, Webb Handling, Printing on
the Fly, Vehicle Control, Remote Control, Large Structures (Telescopes)
Plant Automation:
Field Busses – MACRO, Device Net, Profibus, CanBus, Ethernet, etc…
And Many More...
Robotics
Machine Tool (CNC)
General Automation
(일반 산업 자동화)
Cirque Du Soleil
Winding/Printing
정밀 Linear Stage
(SEMI/FPD)
DELTA TAU
Data Systems, Inc.
A mirror segment
Delta Tau’s Advantage 900 NC Controller is
currently at work on Shaping the Lenses of
the New James Webb Space Telescope
SSG/Tinsley starts by grinding down the surface of the mirror
until it is close to its final shape. Then, the support structure
for the mirror segment is mounted on the back, including
small mechanisms to help focus the final mirror. After that is
done, the mirror segment is carefully smoothed out and
polished. The Tinsley team will then use a laser and an
interferometer to analyze the mirror for accuracy and quality.
They repeat this many times until the whole mirror segment is
perfect.
The James Webb Space Telescope in space
(Programmable Multi Axis Controller)
(Universal Machine & Automation Controller)
•
•
•
•
•
일반 PMAC(Non-Turbo PMAC) 8축 동시제어
Turbo PMAC 32축 제어
동시 프로그램 실행 : 32 PLC, 32 PLCC programs // 16 [8 Non-Turbo] motion programs
UMAC : 3U “Modular” Format Turbo PMAC2 Controller
Standalone 또는 PC-Based Command Application
Bus
Connector Gate Array
Chips
Servo signal
Connectors
IO (In/Output)
Memory
Connection
CPU(DSP)
Firmware Chip
•
•
•
•
Trajectory Profile Generate (모션궤적생성)
: 모션 Move 프로파일을 생성하는 데 필요한 모든 계산을 수행
Feedback Processing : 엔코더 등 다양한 종류의 피드백 신호 처리
Digital Servo Filter
: 내장된 고성능 PID 필터에 의한 서보 업데이트.
Commutation (Optional)
: 모터 상간의 전류 지령을 위한 커뮤테이션
•
Executing Motion Programs : 모션프로그램 실행
•
Executing PLC (Sequential) Programs : 고속 PLC 프로그램 실행
•
Communication with Host PC : PC와의 통신
•
House Keeping (Self-managing and safety check) : PMAC 자체 관리
Hardware Type
(Servo Command Format)
PMAC 1 Type
+/-10V Analog
1) Pulse & Direction
PMAC 2 Type
2) +/-10V Analog
Servo Drive(Amp)
3) Direct IPM
ON/OFF signals
Software Functions
(Performance)
PMAC 1/2
Turbo PMAC 1/2
Power PMAC
•
8 Axis Control (since 1990)
• 32 Axis Control (since 1997)
• Much Faster than PMAC
• Advanced Software Features ; Look-ahead, Kinemtics..
• UMAC, Clipper, CRUiSER…
128(256) Axis (since 2010)
Next Gen. Controller
1)
Data Gathering(데이터 수집기능) . 48 Mem. Locations, 24 Bits
2)
PLC’s & PLCC’s, PMAC Script language and Ladder Editor
3)
Rapid / Linear / Circle / Spline / PVT / & JOG / HOME
4)
좌표계 회전 & 변환 ( Coordinate Rotation (2D& 3D) & Translation )
5)
위치 보정 기능 (Multiple/Automatic Axis Lead Screw & Backlash Compensation)
6)
하드웨어 24-Bits 포지션 캡쳐 & 비교 기능 (Position “Capture” and Position
“Compare”)
7)
* Built-In 1/T quadrature interpolator
8)
Go, Until Trigger / Alter Destination on Trigger
9)
* “Open Servo” / User Written High Level (Basic-like) Code written & Compiled
for execution by PMAC. Capable of Floating point and Array processing. Uses
available Servo Channels for Guaranteed Execution at Servo Rates.
10) All PMAC’s (type or speed) share a Common Programming Language Only
Set-up is different.
1) FAST CPU 56301, 2, 3, 9, 11(Flex) – 40-240 MHz (x1.5 eq.), Large Memory
2) FLASH-RAM, AND REAL-TIME CLOCK, WITH ID CHIP
3) 32 AXIS CONTROL IN 16 COORDINATES
4) PID (8) and Advanced Pole Placement Servo Algorithm (32 Parameters)
5a) MULTI-BLOCK HIGH SPEED, SEGMENTED LOOKAHEAD,
WITH SYNCHRONOUS I/O CAPABILITY
5b) ACCELERATION & JERK CONTROL
6) REVERSE & RETRACE CAPABILITY
7) INVERSE KINEMATICS & 5th Axis NC APPLICATIONS
8) CASCADED SERVO LOOPS (Velocity/Force Loop)
9) Auto ID – Identify and Verify Peripheral Connections on Power Turn-on
10) MULTIPORT COMMUNICATION with SCHEDULER
a) USB2 & Ethernet b) 2x RS232 PORTS c) PARALLEL HOST PORT
d) Internal & External DUAL PORT RAM e) PLC f) MACRO
Multi Block Look-ahead (Auto. Acceleration Control)
Y
VX
X10 Y10
X0 Y20
5
4
3
2
Time
OVERSHOOT WILL
EVENTUALLY
OCCUR AS
VELOCITY
INCREASES
1
2
3
4
In order to follow the
commanded path accurately,
Lookahead automatically
changes velocity so that The
motion profile does not
accelerate beyond set limits,
and remains within the motor
and machine capabilities.
Velocity uniformity is sacrificed
for the sake of high speed
PATH FIDELITY.
5
VY
1
X
X10 Y10
X0 Y20
7
Y
Time
Before Lookahead
VX
6
Time
ACCEL & DECEL ARE
CONTROLLED BY
4
SPECIFIED G’s
AT CORNER TO
PREVENT OVERSHOOT
5
3
1
2
3
4
5
6
7
VY
2
1
X
After Lookahead
Note how “Y” decelerates
to make the corner
Time
Using Segmented Lookahead for Small Block Acceleration Control
V
ACCEL & DECEL TIME MUST BE EQUAL TO
OR SHORTER THAN BLOCK MOVE TIME.
ALTHOUGH THIS LIMITATION CAN BE
IGNORED DURING A MOVE,
THE RESULTING PATH WILL BE ERRONEOUS
ACCEL & DECEL ARE CONTROLLED BY
SPECIFIED ACCEL LIMIT (G’s)
AND CAN BE SPREAD OUT
OVER MULTIPLE BLOCKS TO MAINTAIN
A PRECISE PATH
V
After Lookahead
Before Lookahead
1
2
3
4
5
6
7
8
9 10
1
T
2
3
4
5
6
7
8
9
10
T
PMAC
Constant slow velocity
for sharpest corner
NO LOOK-AHEAD
ELAPSED TIME:
Over 2 Hrs.
PMAC Turbo
WITH LOOK-AHEAD
ELAPSED TIME:
Less Than 30 Minutes
Nearly 5 times Faster
Inverse and Forward Kinematics
2 degrees of Freedom
Allows you to Program
Tip Motion Directly
In Cartesian Coordinates
Inverse Kinematics
B=
+cos-1
X2+Y2-L12-L22
2L1L2
A+C = atan 2(Y,X)
Y
Tip, (X,Y)
C=
+cos-1
X2+Y2+L12-L22
2L1 X2+Y2
A = (A+C) - C
L2
C
Calculates A & B Angles
Based on X & Y Tip Position
B
L1
Forward Kinematics
A
2 degrees of Freedom
6 degrees of Freedom with
Hexapod and Delta Robot
X
X = L1cos(A) + L2cos(A+B)
Y = L1sin(A) + L2sin(A+B)
Calculates tip position
Based on A, B, L1 & L2
Yaskawa Mechatrolink 3 Network Serve
ETHERNET
(Faster Speed)
Up to
32/ 64 Axes
eXcom (Aux. Ethernet/Serial COM. Port)
Any 3rd Party
Controllers
PLC
Vision / Touch
[CRUiSER-S]
AxisLinkMemory Share
32/32 DIO
Local 4/8 Axis Interface
•
•
•
[UMAC]
Next Controller
Analog(±10V) / PUL-DIR
Direct PWM
4 ch. x4096 Interpolator
Analog IO :
4ch. ADC
4ch. DAC
AxisLink – IO
UMAC – 3U Turbo PMAC2 Flexible Controller
EZ Limo Acturator pulse
A/B Quardrature Encoder
HOST PC
AxisLink – 32 : 32/32 IO
AxisLink AD : 2ch. ADC/DAC
3-ch Diff./Single-ended encoder input
A
B
C
1 Count.
Ethernet 100 Mbit/sec
USB 2.0 480 Mbit/sec
RS232 Serial interface
4-channel
Enc. Input
4-channel
Enc. Input
4-channel
Enc. Input
4-channel
Enc. Input
2-channel
Enc. input
4-ch.
Pulse/Dir.
Output
TOP
eXcom
AxisLink
ACC-24E2S
ACC36E/28E
OPT-1x
ACC-24E2x
OPT-1x
ACC-24E2x
OPT-1x
ACC-24E2x
OPT-1x
ACC-24E2x
OPT-1x
ACC-24E2x
WD board
CPU/DPR (240Mhz)
UMAC 0
BOTTOM
4-channel
Output
4-channel
Output
4-channel
output
4-channel
output
12/16 Bits
ADC
SERVOSTAR SP3
Power Block
3,6,10,20 Amps cont. current
Direct Digital PWM input
Serial digital current feedback
High Precision Linear Motor
eXcom16/32
PLC / Vision / PC
Ethernet/RS232
Communication
Rotary Servo Drive
Rotary Servo Motor
Position control mode
Torque control mode
Speed control mode
UMAC – 3U Turbo PMAC2 Flexible Controller
▪ CPU (w/ WD Board)
- 100M Ethernet (TCP/IP)
- 80, 160, 240Mhz
(Memory 확장 가능)
▪ ACC-24E2 (OPT-1D)
- Direct Digital PWM Output
▪ ACC-24E2A (OPT-1A)
- ±10V DAC Output
- Pulse and direction Output
▪ ACC-24E2S
- Pulse and direction Output
▪ ACC-28E / 36E
- 16 / 12-bits ADC (Analog to Digital Converter)
▪ ACC-51E
- Analog Encoder
Interpolator ( x 4096 )
▪ AxisLink (Network IO)
- 32/32 IO (확장 가능)
- Master to Master 통신
- 2ch. ADC / DAC (16bits)
▪ eXcom (통신보드)
- PLC / Vision 통신 기능
- 대용량/ 고속 포지션 Compare 기능 (레이저 Firing)
- X-Y 속도에 따른 PWM
▪ ML-3 Interface (Yaskawa Mechatrolink-3)
▪ RACK / Backplane
- 6 ~ 18 slot (+2)
CEM-Clipper (Package) - 경제형 Turbo PMAC2 Ethernet Controller
Clipper (base board)
CEM-Clipper (4 축)
CEM-Clipper Plus (8 축)
CRUiSER – Fully Integrated Network-Servo Motion Controller (Turbo PMAC2)
•
•
Turbo PMAC2 Network Servo Controller (80Mhz / 240Mhz)
Supports multiple types of Servo & IO Systems –
Analog +/-10V, Direct PWM, Pulse, Mechatrolink-3 (ML-3)
•
CRUiSER-S / - PCIe : Turbo Network Servo Controls
Yaskawa ML-3 Network Servo Interface :
1. 6 axis control : Mini ML-3 option
2. One ML-3 master : 32 PMAC Axes
: 8 Axis : 500usec, 32 Axis : 2 msec
3. Two ML-3 Masters : Max. 64 Axes
: 32 PMAC Axes + 32 M-variables P-to-P
: 8 Axis : 250usec, 32 Axis : 1 msec
CRUiSER-PCIe
CPU Bus I/O Options :
CRUiSER-S
1. AxisLink-Master : Digital IO, ADC/DAC
2. eXcom : external PLC/ Vision device communication (Ethernet/RS232)
3. non-Volatile Flash memory ( replacement of Battery backed-up memory)
•
CRUiSER-Fx : Local 4 Axis Interface
CRUiSER-S (ML-3) plus
1. 4 ch. DAC / Pulse
2. 4 ch. Direct PWM
3. 2 ch. DAC + 2 ch. PWM
•
CRUiSER-Ex : Local 8 Axis Interface
CRUiSER-S (ML-3) plus
1. 8 ch. DAC / Pulse
2. 8 ch. Direct PWM
3. 4 ch. DAC + 4 ch. Direct PWM
4. 6 ch. DAC + 2 ch. Direct PWM
5. 2 ch. DAC + 6 ch. Direct PWM
AxisLink System
- Multi-Purposes Industrial Network Interface
•High Speed UMAC/Clipper/CRUiSER IO Network Control
•고속 분산제어용 하드웨어 Protocol 사용
•통신속도 : 3/6/12 Mbps중 선택, Max. 300m 케이블 연장 가능
•CAT-5 UTP 케이블 사용으로 배선 간편
•[OPT.1] Remote 32/32 IO 보드, 최대 1008/1008 points 확장 가능
•[OPT.2] U(P)MAC to U(P)MAC Direct Communication 기능 (메모리 공유)
•[OPT.3] 메모리 Backup 기능. 512 PMAC Word(32-bit) 데이터 백업
•[OPT.4] Remote ADC / DAC 보드 (각 16-bits, 2/4채널)
•[OPT.5] 32 Input Only 보드 & 16/16 IO 보드
•AxisLink-Motion
UMAC / PMAC Based Motion Interface
4 Ch. Pulse Output and Encoder Input (위치형 서보 및 스텝퍼 제어)
UMAC #1
Network
Axis-Link
Master
UMAC #5
Axis-Link
Opt-1
UMAC #2
TRX
TRX
TRX
TRX
Axis-Link
Opt-1
Axis-Link
Opt-1
N : N Memory Share ( 512Bytes )
D
A
C
Axis-Link
Salve
+
-
+
-
A
D
C
Axis-Link
Opt-1
Axis-Link
Opt-1
UMAC #3
UMAC #4
Digital I/O
DAC / ADC
Pulse
Counter
[ AXIS-LINK Opt-2 Configuration ]
[ AXIS-LINK Opt-1 Configuration ]
eXcom-16/32- General Purpose Supplemental DSP Board
• 메인 콘트롤러(PMAC)의 연산/기능 처리부하를 분산 처리 (32-bits DSP)

통신 프로토콜 확장 및 고속연산 기능 처리
• 다양한 통신프로토콜 개발 용이
( MELSEC® Ethernet, Keyence® Vision, Touch..)
• Multi-points Hi-speed Position Sync. Function
(대용량/고속 데이터 위치 비교 기능 : Laser On/Off , Vision Trigger)
• Motor (X-Y) 속도에 연동된 레이저 파워 PWM 제어 기능
• PC-Based (Ethernet) Data Acquisition Purposes
• Customized Ethernet Data Hub Applications - Standalone (복합 시스템 혼합제어)
• UMAC (Power) / CRUiSER System에 대응
[
PWM
(
)]
X
[
]
Y
ON OFF
Y
time
time
X
PWM
time
time
Direct PWM (Power Block) - Direct PWM Interface – Delta Tau Controller
초정밀 리니어 모터 제어에 적합 (Direct PWM 출력 인터페이스)
다양한 피드백신호를 PMAC/UMAC에서 직접 처리
* 기존 CP3 시리즈 : 정격 3A, 6A, 10A, 20A, 35A (220 VAC Input)
• CDHD-PWM 시리즈 : 정격 1.5A, 3A, 6A, 10A, 13A, 20A,35A
경제적 설계(저가격) / 전류피드백 성능(노이즈) 향상
CDHD Series - High Performance Servo Drive Family
아나로그 & 펄스 지령/EtherCAT : 위치모드, 속도/토크 모드
Advanced Current Loop (3Khz) / 진동억제 알고리즘
다양한 피드백 지원 : 디지털, 아나로그엔코더, Tamakawa 시리얼
외부 인터페이스 : DIO, Analog 입력
Compact 한 사이즈 / 경제적 디자인
* CDHD 전류용량 : 정격 1.5A, 3A, 4.5A, 6A, 8A, 10A, 13A, 20A, 24A
LVD Series
- Mini-size High-Current DC Servo Drive
초소형 DC Brush/ Brushless 모터 제어 앰프
12~48V DC Input / 7/12Arms (정격/최대)
소형 로봇 및 의료용 장비에 적합
Yaskawa Mechatrolink-3 (ML-3) Interface
►
(Power) UMAC ML-3 Interface Card ( Max. Two ML-3 Masters per Card)
One ML-3 Master Chip : 32 PMAC Axes
( 8 Axis : 500usec, 32 Axes : 2msec)
Two ML-3 Master Chip : Max. 64 Axes (32 PMAC Axes + 32 M-variables P-to-P)
( 8 Axis : 250 usec, 32 Axes : 1 msec)

►
►
Trajectory (Interpolation) Update : Max. 250usec for 8 Axis (limited cable length)
One (Power) UMAC CPU supports up to TWO ML-3 Master Cards
(Max. 4 ML-3 Master Chips) ;
32 Axis Interpolation (PMAC Axis), or
128 Axis Point-to-Point Move (M-variables)
Can be used along with ACC-24E2x/-24E3 accessories
Yaskawa 서보 전 품목
직판 대리점 영업 !!! (2012/06)
Pewin Pro
PMAC Tuning Pro
PMAC Plot Pro
Turbo Setup Pro
SETUP
UMAC Configure Pro
SmarTrans
AxisLink Manager
PMAC Ladder Editor
ML-3 (Mechatrolink) Setup M
GUI
Pcomm32 (DLL)
Touch Panel (PLC)
Labview Interface (Lab Windows)
* Power PMAC
Setup : Power PMAC IDE
G U I : Ppmac COM Library
강력한 하드웨어 - Hi Performance RTOS(Linux) Motion Controller
•
800Mhz / 1.0 Ghz Linux OS Built-in Motion Controller
•
Max. 256 서보 모터 제어 가능 ( MACRO System 필요)
•
Full 32/64 Bit Architecture / Hardware 64-bit floating points
(고속 연산 기능 및 대용량 Dynamic Range)
•
대용량 내부 메모리 ( 최대 2GB DDRAM, 512MB NAND Flash for User Programs)
•
Support PC Peripheral Memory devices (USB /SD)
•
Built-in Ethernet 100Mbps / 1Gbps, USB2.0
•
2 Port PCI Express 확장버스 옵션( Video 및 Vision 보드등 장착)
•
다양한 Power 모델 출시 ( Power UMAC / Power Clipper / Power PCI..)
향상된 소프트웨어 환경 - Full Real-time Operating System (RT Linux)
•
Hard Real-time Interrupts Tasks Scheduling Structure
•
사용자 편의를 고려한 강력한 모션 및 PLC 프로그래밍 환경
•
향상되고 풍부해진 Turbo PMAC(기존 PMAC) 타입 명령어 지원 및
C/C++ code 실행기능 (Built-in GNU Cross compiler)
•
한 좌표계에서 32축 동시 보간 (Turbo PMAC : 9축)
•
확장된 PID Servo Algorithm (Servo loop calc. on Phase interrupt 등..)
(Fast Tool servo, Piezo 제어에 필요한 High bandwidth servo 제어) HTTP/FTP Support
(Embedded Web server 내장)
•
Advanced Motion Trajectory Generation Algorithm
•
IEC61131-3 Ladder Diagram / Function Block Diagram / SFC/ FBD ..
•
MATLABTM / Simulink RT WorkshopTM Interface 기능
DSP Gate3 ( New Servo IC) 기능 - 차세대 서보 & IO 하드웨어 로직
•
Next Gen. Function/Logic 설계(기존 DPS GATE2 대비 약3배의 동작 속도 향상)
•
Servo / IO / MACRO 기능을 통합한 하드웨어 Package
(하드웨어 표준화로 경제적인 시스템 제공 가능)
•
32bits Data Bus Architecture and Direct Memory Access 지원
•
향상된 Hardware Position Capture / Multi-Dim. Compare기능
•
각 채널별 주파수 (PWM, Servo..dead-time) 설정 가능
•
펄스출력 서보(스텝퍼)제어 채널의 엔코더 입력 사용 가능
•
Laser 및 방전기 Power 제어를 위한 향상된 Pulse Modulation 기능
•
16-bits (x65536) Sinusoidal Encoder Interface
•
다양한 Serial Data Encoder interface 기능
(SSI, EnDat®, Tamakawa®, Panasonic®, Yaskawa®..)
POWER PMAC 제품 구성
•
Power UMAC (CPU) : ACC-24E2x (기존 UMAC 악세서리)
ACC-24E3x (Power PMAC 전용)
•
Power PMAC Clipper : Lower Cost Single Board Solution
•
Power PMAC EtherLite : MACRO / EtherCAT 지원
•
Power PMAC Brick Family
Turbo PMAC 제품 구성
UMAC : Turbo PMAC2 3U
Clipper : Turbo PMAC2 EtherLite (Single board)
CRUiSER : Turbo PMAC2 Integrated Motion Controller (Network Servo)
PCI : Turbo PMAC1/2 PCI board Product line
Power PMAC Block Diagram
Supports all presently available
UMAC Accessory Boards
Greatly improves performance
(Cost & Capability) when used
with ACC24E3 (DSPGATE 3)
Disk
Drive
SATA
Vision System,
Fieldbus Cards, etc...
PCIe (x1)
Video
Monitor
PCIe (x4)
HDMI
Keyboard,
Mouse
USB
Ethernet
1G Eth
*Can be used as
SATA or PCIe (x1)
Ethernet
1G Eth
UBUS
RS232
RS232
Lattice CPLD
UBUS I/F
Power PMAC
CPU
800Mhz - 1.0Ghz
USB Hub
Contains everything
necessary to boot
Linux RTOS Kernel
Soldered Down
NAND Flash 1GB std
(4GB, 8GB optional)
Contains Complete
Operating System
plus Add on Products
AMD
NOR Boot Flash
64MB
DDR2
1GB or 2GB
RAM w/ ECC
Removable SOCDIMM
16M Motion Prog Buffer (adjustable)
8M PPmac Memory Map (Fixed)
1M User Shared Memory (adjustable)
PC Comm
i.e. -Web, TCP
Sockets
Up to 32GB SDHC
Memory Card (User
Programs)
SDHC Expansion Slot
(User Expansion)
USB 2.0
Ethercat,
Modbus, etc…
ie. IEC1131, EPICS
NC Application,
Ethercat, etc ...
User Interface Software
USB
Keyboard,
Mouse, RS232,
Hard Drive,
Memory Stick etc...
USB
USB 2.0 Host
Expansion Port
(User Expansion)
USB
USB 2.0 Device
Keyboard,
Mouse
Power PMAC is a complete PC operating under Real Time Linux
With embedded, ruggedized motion control capability
Laptop or PC
Number of Axes:
•Supports up to 256 motors simultaneously
Number of Coordinate systems:
•Up to 128 independent coordinate systems
Servo Loop Update Rate:
•1-axis: up to 60kHz
•4-axis: up to 40kHz
•8-axis: up to 20kHz
Programmed Move Block Execution Rate:
•Up to 10,000 Blocks/sec
Move Modes:
•Blended linear and circular interpolation modes
•Rapid Point-to-point, triggered, alterable,
•PVT, Spline and on-the-fly transition between blended and modern spline modes
•Dynamic lookahead for velocity and acceleration limiting
•True jerk control
Compensation Tables and Methods:
•1D, 2D or 3D Compensation with optional rollover
•3rd-order interpolation between points every servo cycle
•Torque compensation tables
•Backlash compensation
•Tool radius compensation
•Supports up to 256 Comp tables
Number of I/O:
•Supports up to 8,000 nodes
Servo Features
Safety Features
•Standard digital PID feedback filter
•Hardware and software overtravel limits
•Velocity, acceleration, and friction feedforward
•Amplifier enable/fault handshaking
•7th-order polynomial filters (진동제거 필터등)
•Following error limits
•Gains changeable at any time
•Programmable input, integrator, and output limits
•User-Written Servo algorithms in C and Matlab/Simulinktm
Commutation Features
•Integrated current limit
•Encoder loss detection
•Watchdog timer
Coordinate Systems and Master/Slave Features
•Sinusoidal commutation of AC servo motors
•User-defined coordinate systems for automatic coordination of axes
•Vector control of AC induction motors
•Separate coordinate systems for independent motion of axes
•Digital current-loop closure with direct PWM output
•Multi-motor axis support (e.g. gantries)
Motion Program Features
Servo Features
•Dynamic axis transformations (e.g. offsets, rotations, mirroring)
•Automatic sequenced execution of moves
•User-written kinematic algorithms for non-Cartesian geometries
•Automatic coordination of multiple axes
•Electronic gearing (no programming required)
•Ability to execute G-code programs
•Electronic cams with programmable profiles
•Calculations and I/O synchronous to motion
•Axes programmed in user engineering units
•Motion values as constants or expressions
The Power PMAC IDE Software:
Power PMAC Integrated Development Environment (IDE) includes all the necessary
tools for setting up, developing, managing, and diagnosing your Power PMAC
application.
The intuitive and easy-to-use IDE provides many tools to make your programming
and development fast and simple. Features like:
Terminal
Position
Intellisense
F.E.
Velocity
User Written Code
Message Window
Program editor with color
code, syntax checking and
structured programming
Display windows for
Position, Following Error,
Velocity, etc…
Intellisense and Syntax Checking
Structured Programming
Auto-Completion
Self-Documenting
On-line Help, etc…
The IDE was designed using Microsoft Visual Studiotm, comprised of several “.net”
components which can also be used with your custom application software.
Watch
Motor Status
•
•
•
•
•
Project
The IDE is designed with an instinctive layout, providing access to all Power PMAC
functions only one or two mouse clicks away. Convenient mouse-over capability
provides quick reference for any pertinent function along with an intuitive right-click
menu for additional utilities or help files.
•
•
•
•
•
•
•
Intellisense and Autocompletion of programming
commands
Microsoft Windows 7 and Vista 32/64-bit operating systems.
Advanced editor with built-in debugging features
Extensive project and resource-management features
Integrated GNU C/C++ cross-compiler
Interactive terminal window
Many status and setup windows
Tuning and plotting graphics screens
Error and status monitors,
parameter watch table
displays.
Project Management
provides an organized
tree structure for each
function or structure
within the Power PMAC
Power PMAC
Turbo PMAC
CPU Clock 1GHz, 800MHz
80MHz, 160MHz, 240MHz
Full 32/64-bit architecture
Full 24/48-bit architecture
Hardware 64-bit floating-point
Hardware 48-bit Fixed-point
1G-2G DDRAM
240MHz 기준 192kk X 24 internal memory
512k X 24 user data memory (SRAM)
Built-in USB2.0 Ethernet 100Mbps,1Gbps
Built-in USB2.0 Ethernet 10Mbps,100Mbps
Option direct video interface 지원
없음
DSPGATE IO, DSPGATE 1, 2, 3, 지원
DSPGATE IO, DSPGATE 1, 2 지원
Power PMAC
Turbo PMAC
최대 256축 제어
최대 32축 제어
최대 128개 독립적인 좌표계 가능
최대 16개 독립적인 좌표계 가능
최대 32축의 좌표계 축 정의 가능
최대 9축의 좌표계 축 정의 가능
User Written Algorithm in C++ or
Matlab/Simulink™
User Written Algorithm in
Assembler or Script Language(Limitations)
Power PMAC IDE (Visual studio 환경)
Pewin32Pro
Linux level OS (GPOS, RTOS)
Firmware level OS
Embedded Web Server 지원(HTTP,FTP)
없음
C Programming 지원
(Built-in GNU Cross compiler)
Script language지원(PLC, Motion)
Script language지원(PLC, Motion)
Phase Update
1,2
Servo Update2,3
Custom Servo4
Program SQRT5
Program Multiply5
4-Axis Move Eqns.6
Ethernet Transfer7
Notes:
1. PM brushless-motor commutation, current-loop closure, one
motor
2. Fixed-point math on Turbo PMAC, floating-point math on
Power PMAC
3. PID, trajectory interpolation, 1/T encoder extension, one motor
4. Control of 7 harmonics, all floating-point math, one motor
5. Uncompiled script language, floating-point math
6. Linear mode equation calculations, no segmentation, no
lookahead
7. File downloaded to set 8192 variable values, 100 Mbps
8. Limited by I/O speed
9. With PMAC3 ASIC
10. Executing from internal memory
CLOSED LOOP MOTION CONTROL
A/B QUADRATURE ENCODER
SLOTS
(LINES)
SINUSOIDAL
ENCODER
A
B
X4096
Interpolator
A
B
MOTION
COMMAND
The PMAC2 can Output:
Analog +/-10V.
(Velocity or Torque Mode)
DELTA TAU
CONTROLLER
X4
C
C
OPTICAL
ENCODER
MARKER PULSE
SERVO
AMP
CURRENT
ENCODERS CAN BE ANY TYPE:
1) LINEAR & ROTARY – A/B QUAD.
2) SINUSOIDAL (interpolation)
3) INCREMENTAL / ABSOLUTE
4) RESOLVER / LVDT
5) SERIAL (SSI, Hyperface, EnDat, etc…)
6) ANALOG
7) MLDT
CURRENT
PWR
BLOCK
VELOCITY or TORQUE
COMMAND
PWM
PWM
SERVO
MOTOR
or
STEPPER
MOTOR
PULSE &
DIRECTION
SINUSOIDAL
COMMUTATION
PULSE & DIRECTION
(STEP DRIVER or
POS. mode Servo)
1:2
-LIMIT
HOME
WHEN USING PMAC2 (PWM)
THE MOTOR CAN BE ANY TYPE:
1) A.C. INDUCTION
2) D.C. BRUSHLESS
3) D.C. BRUSH
4) STEPPER (Micro STEPPER)
5) LINEAR MOTORS
6) FIELD WOUND MOTORS
7) HYDRAULIC
END OF TRAVEL
LIMIT SWITCHES
& HOME FLAG
LOAD
BALL NUT
LINEAR SCALE
(CAN BE USED AS
DUAL ENCODER FEEDBACK)
Pulse & Direction (Stepper)
CURRENT
LOOP
TACH.
OPTIONAL
TACH
(6 Digital Outputs)
PULSE &
DIRECTION
VELOCITY LOOP
1 Count.
1000
LINES/REV.
Direct Digital PWM
+LIMIT
• Position Mode
Pulse & Direction
+/-10V Analog
• Velocity Mode or
Torque Mode
UV Phase
+/-10V Analog
• Two Phase
Commutation
Direct IPM
ON/OFF signals
• Power Block
Proprietary
Data Stream
Digital DATA
MACRO/ Mechatrolink-3
• Digital Network
Protocol
CLOSED LOOP SERVO
Desired Position (Motion Program Input)
Desired Velocity (+/-10 Volt)
Desired Torque (+/-10 Volt)
Desired Phase Currents (Sine & Sine+120)
Desired PWM Values
(1 to 15 KHz)
Trajectory
Generator
Position
Filter
Actual
Position
Velocity
Filter
d
dt
Current
Filters
Commutation
Power
Blocks
Current Sensors
A
B
C
Motor
Phases
A/D
Actual
Velocity
Act. Rotor
Angle
Act. Phase
Current
Gear
Ratio
A/D
E
Motor
Load
Linear Scale
Position Mode
Velocity Mode
Torque Mode
Direct PWM
Non-Commutation
Servo Drive (Amplifier) Operating Mode
SERVO AMP
PMAC
위치루프
속도루프
전류루프
+
전류
제어부
-
파워
블럭
모
터
전류
feedback
Commutation
OPEN loop
PULSE &
Direction
펄스수: 위치
주파수: 속도
+
위치지령
+
위치
제어부
-
속도
제어부
Act,
Rotor Angle
Act,
- Velocity
속도변환
Act,
Position
서보 제어에 관여하지 않음
Encoder
PMAC
SERVO AMP
위치루프
속도루프
전류루프
+
-
PI-loop
위치
loop
Analog ±10V
파워
블럭
전류
feedback
Commutation
속도지령 (VEL)
+
+
위치
제어부
-
Feedback
전류
제어부
모
터
Act,
Position
속도
제어부
Act,
Rotor Angle
Act,
- Velocity
속도변환
Encoder
PMAC
SERVO AMP
위치루프
속도루프
전류루프
PID-loop
+
Analog ±10V
전류지령 (TOR)
위치
loop
-
속도
loop
파워
블럭
전류
feedback
Commutation
+
+
위치
제어부
-
Feedback
전류
제어부
모
터
Act,
Position
속도
제어부
Act,
Rotor Angle
Act,
- Velocity
속도변환
Encoder
PMAC
U-V Sinusoidal AMP
위치루프
PID-loop
UV Phase
Sine & Sine+120
위치
loop
속도
loop
속도루프
전류루프
전류지령 (TOR)
U
V
+
전류
제어부
-
파워
블럭
모
터
전류
feedback
Commutation
속도
제어부
위치
제어부
속도변환
Encoder
Feedback
SERVO AMP(전용AMP)
PMAC
PID-loop
Direct PWM Value
Direct IPM
ON/OFF signals
위치
loop
속도
loop
전류
제어부
전류
loop
파워
블럭
모
터
Commutation
속도
제어부
위치
제어부
속도변환
Encoder
Feedback
Motion Controller
(UMAC)
Encoder
(Digital or Sinusoidal)
Linear Scale
/Hall Sensor
Power Block
( Servo Drive)