Motion Controller for Any Application | ElmoMC
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The document details Elmo's Gold Maestro, an advanced network-based multi-axis motion controller designed for diverse motion control applications. It highlights features such as the ability to synchronize up to 16 axes, advanced user programming capabilities, and support for various motion profiles like linear, circular, and polynomial. The Gold Maestro also includes comprehensive application support, error correction, and flexibility for executing complex coordinated movements.
Motion Controller for Any Application | ElmoMC
- 1. The Solution For ANY Application ANY Motion
- 2. 2 Motion Control For ANY Multi Axis Scenario The Gold Maestro is the Ultimate Demonstration of Elmo’s “Smart, Small and Simple”
- 3. 3 Motion Control For ANY Multi Axis Scenario Elmo’s Gold Maestro is an advanced, network-based, multi- axis machine motion controller. The Gold Maestro can control any multi-axis scenario. From simple “Point-to-Point” to complete multi-axis coordinated / synchronized motion control. By operating in conjunction with Elmo’s Veteran SimplIQ or Gold Servo Drives, it offers the most advanced multi-axis network controller.
- 4. 4 Motion Control For ANY Multi Axis Scenario The Gold Maestro features: By the book, PLCopen Single and Multi-Axis motion control Designed to standards for simple and effective integration into your machine Ability to synchronize up to 16 axes, at Axis level and at Machine Level Advanced user programming capabilities based on recognized standards (C, C++, .NET, IEC-61131-3) Complete application support by ready-to-use scripts, motion blocks, programs, templates, user functions.
- 5. 5 Motion Control For ANY Multi Axis Scenario A major advantage of the Gold Maestro is the flexibility in allowing axes to run in the following modes: Numerical Control – Motion Profile that is calculated in the Gold Maestro Distributed – Motion Profile that is calculated in drive, thus obtaining distributed intelligence
- 6. 6 Motion Control For ANY Multi Axis Application Standards PLCopen programming interface to the G-MAS. DS402 motion protocols to the drives Homing Profile Position Interpolated / Cyclic Position Cyclic Torque Cyclic Velocity DS401 to IO modules Host Field busses to 3rd party devices Modbus Ethernet/IP
- 7. 7 Designed based on the standards of DS402: On Limits On Home On Index On Block Any Motion – Single Axis MOVING PART LimitSwitchNeg LimitSwitchPos MOVING PART On Off Off On
- 8. 8 Single Axis Motion Simple Point to Point and Jog motion. Huge Motion Buffers are supported. Motions can be buffered by using one of the many supported G-MAS Motion Buffering modes: Buffered – Motion Function block will start once the previous motion ended. Blending – Velocity of inserted motion block will blend with the previous function block. Abort – All ongoing motion blocks will be aborted. Any Motion – Single Axis
- 9. 9 Any Motion – Single Axis On The Fly Position to Torque switching: Fast and smooth transition to Torque control with Torque ramp
- 10. 10 Any Motion – Single Axis Superimposed Motion : The G-MAS fully supports superimposing a motion - the ability to impose an additional profiler on top of an ongoing motion in real time Velocity Position Imposed Motion 5000 60000
- 11. 11 Any Motion – Single Axis Programmable “In Target” criteria: Precise Motion and Settling time (within programmable radiuses and time) can be obtained for factory ATP purposes
- 12. 12 Any Motion – Multi Axis Multi Axis Coordinated Motion Group Motion can be fully coordinated and synchronized when using the G-MAS. Each individual axis that is part of a Group Motion shall start together and finish together with other group members
- 13. 13 Any Motion – Multi Axis Linear Motion Function Blocks Y X x1 x2 y1 y2 Start Point = (x1, y1) End Point = (x2, y2)
- 14. 14 Any Motion – Multi Axis Circular Motion Function Blocks Y X x1 x2 y2 y1 Start Point = (x1, y1) Center Point = (x2, y2) x3 y3 R End Point = (x3, y3)
- 15. 15 Any Motion – Multi Axis Polynomial Motion Function Blocks The G-MAS profiler builds a smooth polynomial shape segments in 2D and 3D space that is defined by these three crossing points: Y X x1 x2 y2 y1 Start Point = (x1, y1) Auxiliary Point = (x2, y2) x3 y3 End Point = (x3, y3)
- 16. 16 Any Motion – Multi Axis Spline and PVT Table related Motion Function Blocks Points are know in advance, and are interpolated by the G-MAS. Several table and motion modes Y X X Y X0 Y0 X1 Y1 X2 Y2 . . . . . . . . . . . . Xn Yn
- 17. 17 Any Motion – Multi Axis ECAM Table Motion Function Blocks The slave axes are synchronized to the master’s position according to a predefined table.
- 18. 18 Any Motion – Multi Axis Motion Blending The G-MAS enables the blending of a path between any two consecutive motion segments. The blending defines the velocity at the transition point. Y X x1 x2 y1 y2 Start Point = (x1, y1) Connection Point = (x2, y2) x3 y3 End Point = (x3, y3) Y X x1 x2 y1 y2 Start Point = (x1, y1) Connection Point = (x2, y2) x3 y3 End Point = (x3, y3) Before Transition After Transition
- 19. 19 Any Motion – Multi Axis Motion Blending Modes Different Blending modes are supported: Blending with low velocity Blending with high velocity Blending with velocity of previous segment Blending with velocity of next segment
- 20. 20 Any Motion – Multi Axis Motion Transitions: The GMAS provides complex transition modes for 2D and 3D kinematics
- 21. 21 2D Blended Motion Example : 2D blended motion with transition curves
- 22. 22 Any Motion – Multi Axis G-MAS Kinematics The G-MAS supports several Kinematic Transformations: PCS – MCS transformation MCS – ACS transformation Cartesian Machine systems Delta Robot Machine systems Linear transformation of the ACS
- 23. 23 Z Y X Z’ Y’ X’ MCS – Machine Coordinate System PCS – Product Coordinate System PCS – MCS transformation – Product Coordinate System to Machine Coordinate System
- 24. 24 MCS – ACS Transformation – Machine Coordinate System to Axis Coordinate System Cartesian Machine System: Z Y X MCS – Machine Coordinate System X Y Z ACS – Axis Coordinate System Delta Robot Machine System: θ1 θ2 θ3 θ1 θ2 θ3 ACS – Axis Coordinate System MCS – Machine Coordinate System (Xo ,Yo, Zo)
- 25. 25 Linear transformation of the ACS – Axis Coordinate System Position time t1 t2 t3 p3 p2 p1 Position time t1 t2 t3 p3·AY(x) = A·x+B B p1·A p2·A
- 26. 26 Any Motion – Multi Axis Delta Robot After defining the Delta Robot Kinematics and measurements, running the Delta Robot is a simple task. All Coordinated motions function blocks are available (Linear, Circular, Polynomial, PVT, Splines).
- 27. 27 Any Motion Huge Motion And Administrative Buffers. The G-MAS supports up to 1000 function block depth. Using the administrative Function Block mechanism, a user can precisely change motion parameters, IOs and maximum torque Between Motion Blocks
- 28. 28 Any Motion 1D, 2D and 3D Error Correction Support The G-MAS supports the ability to Correct non-linear mechanical position errors on a multi-axis system.
- 29. 29 Any Motion 2D Error Correction - Example A Nano metric system before and after Error Correction. Units are in microns Before: After:
- 30. 30 Any Motion For a full list of features and capabilities visit: http://www.elmomc.com/capabilities/elmo-capabilities-main.htm