Platinum Maestro Multi Axis Control. The Ultimate Machine Motion Controller

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1 Platinum Maestro Multi Axis Control The Ultimate Machine Motion Controller

2 Platinum Maestro TRUE MACHINE MOTION CONTROL SMART & SIMPLE MOTION IMPLEMENTATION BEST IN CLASS MULTI AXIS CONTROL / Advanced Machinery Tooling EFFICIENT NETWORKING with ADVANCED ETHERCAT SUPPORT UNPARALLELED PROCESSING POWER & MEMORY Dedicated core for Real-Time processing and user program Unlimited Memory : 4GB DRAM / 4GB Flash Programming /Connectivity Flexibility G-CODE COMPACT & EFFICIENT

3 Why mix networking with programming? 3

4 4

5 Do we really want to go there? 5

6 Programming Connectivity Languages Host Environments (IDE) Fieldbus Host OS IEC (PLCopen) CODESYS EtherCAT Ethernet/IP Linux C/C++ Visual Studio Eclipse/MDS CANopen(DS402) TCP/IP Windows C#.NET Modbus VxWorks MATLAB Open Source 6

7 Programmin g Connectivity Language s Host Environme nts (IDE) Fieldbus Host OS IEC (PLCopen) CODESYS EtherCAT Ethernet/IP Linux C/C++ Visual Studio / Eclipse CANopen(DS402) TCP/IP Windows MDS C#.NET Modbus VxWorks MATLAB Open Source 7

Host Connectivity Use a wide variety of standardized and proprietary communication protocols between the Gold/Platinum Maestro Motion Controller and Host computer, PLC, or HMI.

8 Host Connectivity Use a wide variety of standardized and proprietary communication protocols between the Gold/Platinum Maestro Motion Controller and Host computer, PLC, or HMI. UDP/IP Fast, simple communications with 3rd party industrial elements such as touch panels, teach pendant, PLCs, industrial PCs, etc Use standard by the book industry protocols 8

9 Motion Control / Automation Networks Fieldbus network requiring event based synchronization absolute hard (deterministic) delivery of time critical cyclic data, with minimal variability (jitter) 9

10 Fieldbus Connectivity 10

11 Platinum 11

12 Some background CANOpen DS402 CoE The CAN in AUTOMATION (CiA) Group, established the DS402 ( DS stands for Draft Standard) for Drives and Motion Control Device Profile. The aim of this standard is to provide a common platform that defines the general behavior, and operation modes that should be supported by drive manufacturers, to enable as much as possible, interoperability between masters and slaves within motion control systems. It was born for the old CAN technology, but is widely adopted by the ETG and many drive manufacturers as well, with the CoE (CAN Over EtherCAT) 12

13 DS402 Drive Device Profile The CANOpen DS402 and CoE The DS402 device profile defines several modes of operation, including: Profile position mode, Homing modes Interpolated position mode, Profile velocity mode, Profile torque mode, velocity mode, Cyclic synchronous position mode, Cyclic synchronous velocity mode, and Cyclic synchronous torque mode 13

14 DS402 Drive Device Profile Cyclic Synchrones Position Mode 14

15 EtherCAT Data Processing Ethernet for Control Automation Technoloyg (EtherCAT) Master-Slave Configuration (full-duplex) On-The-Fly Processing Process data is extracted and inserted on the fly Process data size per slave practically unlimited (1 Bit 60 Kbyte, if needed using several frames). Practical systems use for the process data no more than few dozen bytes per node per cycle. Support Dispersing cycle data : short cycle times for high demanding axes, and longer cycles for service axes and I/O update is possible Slave Device Slave Device EtherCAT Slave Controller EtherCAT Slave Controller 16

Platinum Maestro Efficient Minimal Cycle Time Network Cycle Update Rate: oup to 8 axes: @ 100µs (With

16 Platinum Maestro Efficient Minimal Cycle Time Network Cycle Update Rate: oup to 8 100µs (With Platinum Drive) oup to µs (With Gold Drive) oup to µs oup to µs 17

17 Platinum Efficient Near Zero Latency (drive level ) Figure 1 :minimal latency of 3 EtherCAT cycles between master command and ma ster receive for a torque change, only 750µs 250µs cycle rate (and m uch less if at 100 µs)

18 Configuration Tool (EAS) Allows you to define and configure the Maestro EtherCAT network. Besides the Elmo drives, the tool supports more than 95% of the EtherCAT devices, enabling advanced EtherCAT features such as modular devices, oversampling and more. 20

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20 Network Redundancy (ring topology) Platinum Maestro Efficient o Cable redundancy is designed to compensate for the failure of a communication cable section in the EtherCAT system. o A ring topology, which normally is operated in both directions, is therefore used. o Both branches can still be reached if the ring is interrupted at some point 22

21 Network Redundancy (ring topology) Platinum Maestro Efficient 23

22 Programming Connectivity Languages Host Environments (IDE) Fieldbus Host OS IEC (PLCopen) CODESYS EtherCAT Ethernet/IP Linux C/C++ Visual Studio Eclipse/MDS CANopen(DS402) TCP/IP Windows C#.NET Modbus VxWorks MATLAB Open Source 25

23 CAPABILITIES on the Elmo website Are you using it? 26

Programming PLCopen is an organization that is active in the industrial control field with a mission to support the use of international standards in Control Programming.

24 Programming PLCopen is an organization that is active in the industrial control field with a mission to support the use of international standards in Control Programming. One of the core activities of PLCopen is focused around IEC , the only global standard for industrial control programming. Ladder Diagram (LD) Structural Text (ST) Function Block Diagrams (FBD) Instruction List (IL) Sequential Function Chart (SFC) Another activity of PLCopen is the Motion Control committee where PLCopen motion standard provides a way to have standard application motion functions 27

25 Chapter 9: Members of PLCopen 28

26 Where is IEC programmed? 29

27 So what s the deal with? Programming in one of the IEC languages according to all PLCopen standards. Industry standard IDE extensive features for commissioning automation applications, and tools for simpler, more intuitive Elmo operations. Visualization 30

28 Visualization There now 2 different Maestro firmware versions. The Enhanced IEC version is indicated in the firmware version. All motion functionality is done by Elmo and not by CODESYS (we are not using their SoftMotion package). Motion related events are triggered by the IDE and are then fully performed by Elmo. Multi Language Support: CODESYS has a built in language change option, which can be performed easily 31

Development of high level HMI Screens directly in the IEC 61131-3 Development Environment Target device (HMI) or Remote

29 Visualization A major driving force towards the Codesys environment. Enhanced visualization tools (Elmo had some with EASII, but limited) Figure 5: Visualization example of Elmo demo case Development of high level HMI Screens directly in the IEC Development Environment Target device (HMI) or Remote Visualization (web browser HTML5) Target with HDMI or host connectivity Visualization tools are based on the IEC platform Operation with Elmo is straightforward and easy to use 32

30 Why Visualization? Machine builders want to be able to create HMI s simply and intuitively Operators of industrial machinery want to monitor machine and component operation in a simple and graphic way, locally or remotely Direct access to all application variables, due to the full integration in the IEC Development System, no tag list comparison required. The Visualization is based on HTML-5 GUI, and will run on any browser supporting HTML-5. 33

31 The Maestro Developer Studio (MDS) is an integrated development and debugging environment customized to work with Elmo s Gold Maestro multi-axis motion controller. C/C++ API s 34

32 Platinum Lion Software in the Loop (SIL) How it works 1. Elmo API libraries for MATLAB customer can build own models, profiles, kinematics 36

33 Platinum Lion Software in the Loop (SIL) How it works 2. With a click of a button, everything is compiled and automatically copied to a C++ environment 3. C++ code can be download to P-Lion 37

34 Programming Connectivity Languages Host Environments (IDE) Fieldbus Host OS IEC (PLCopen) CODESYS EtherCAT Ethernet/IP Linux C/C++ Visual Studio Eclipse/MDS CANopen(DS402) TCP/IP Windows C#.NET Modbus VxWorks MATLAB Open Source 38

35 Platinum Maestro Multi Axis Control Thank You!

Platinum Maestro Multi Axis Control. The Ultimate Machine Motion Controller

Platinum Maestro Multi Axis Control The Ultimate Machine Motion Controller Making Smart Machines Smarter HMI Visualization Multi-Platform Operating System ANY MOTION with Elmo s Maestro Family Gold Maestro