BETTER TOOLS FOR BETTER CONTROL

Transcription

1 BETTER TOOLS FOR BETTER CONTROL ADVANCED ACCURATE AFFORDABLE Software support tools New! Network Control Solutions Application development support POWERFUL SOLUTIONS FOR MOTION CENTRIC MULTI-AXIS MACHINERY

2 High Performance Multi-Axis Delivering powerful control solutions, software tools and application support services for machine control customers worldwide ACS Motion Control is a global manufacturer of high performance machine control systems for motion centric applications that combine multi-axis control, power and precision to deliver the highest performance, most flexible, cost-effective and user-friendly complete solutions. Established in 1985, ACS Motion Control has its international headquarters in Israel and sales and support centers in the USA, China, Germany and South Korea. Backed by an ISO9001-certified design and manufacturing facility with an ongoing commitment to quality control and reliability testing, ACS Motion Control works with an experienced and well trained full solution provider network that provides sales support and customer service worldwide. 2 Providing a competitive advantage through superior machine & motion control ACS continuously invests in the development of new technologies and products to ensure that our customers are provided with the most advanced machine and motion control solutions for their needs. The MC4U controller, that is tailor-made to address each customer, the SPiiPlusSC Soft Controller and EtehrCAT Master and the SPiiPlusNTM EtherCAT Network Master Controller, which is the heart of an economical network based control solutions, are the latest examples of such efforts. Only ACS Motion Control offers customers a unique combination of advanced hardware components, flexible control software and application engineering support that delivers comprehensive motion and machine control solutions tailored to their exact needs, for the optimal performance and costs, from a single source. By tailoring a specific system for each application built from standard components, ACS Motion Control provides a single point of control responsibility to deliver a complete, reliable system that can be implemented faster and at a lower cost than using multiple vendors or by specifying a more complex control than is needed. With proven technical expertise and application experience, ACS Motion Control ensures that customers realize a true competitive advantage by enhancing their accuracy and throughput with superior motion and I/O control solutions, robust user-friendly software and application development support.

3 Machine & Motion Control Solutions Short settling time for maximum throughput Resonance compensation Frequency response measurement and optimization Dual-loop control Minimal standstill jitter Smooth constant velocity control Motor disturbance rejection Vibration compensation Flexible control algorithms for optimal performance MIMO Control Gantry control Gain-scheduling Non-linear controls Disturbance rejection algorithm option Automatic and smooth switching between feedback devices Piezoelectric ceramic motors Closed loop step motor control Customized control algorithms for special and complex mechanical structures Special profile generator features Two dimensional dynamic error compensation Inverse and forward kinematics Virtual axis Master-slave operation Cam profiling Real-world experience in advanced motion and machine control applications Working closely with your design engineering teams, ACS Motion Control engineers combine many years of multidiscipline experience in machine and motion control, digital and analog circuit design, power electronics, control-algorithm development and machine design with the industry s most flexible control software suite and advanced hardware to develop innovative solutions for the most demanding machine automation applications in terms of accuracy and throughput. If your machine is mechanically complex and has multiple switchable feedback devices, we have the experience and know-how to provide you with an optimal solution. ACS Motion Control systems are extensively deployed in semiconductor manufacturing, electronic assembly, automated test equipment, advanced digital printing, medical imaging, robotics, FPD (flat panel display), solar PV panel manufacturing and inspection equipment. Semiconductor Electronic assembly Digital printing Solar panel Flat Panel Display (FPD) 3 acsmotioncontrol.com

4 Better Motion Control 4 Host-dependent or stand-alone operation Whether your application requires a more advanced hostdependent solution to manage all machine motion control and related I/Os processes, or you need the controller to function as a stand-alone unit to manage all machine processes including multi-axis control and all PLC functions, ACS products offer the flexibility and software architecture you need to support either scenario. Multi-processor platform for performance and scalability Unlike other motion control products that use a limited single processor for multi-axis motion control, our robust multi-processor platform guarantees performance and scalability no matter how complex and how many axes are controlled. The platform consists of one Motion Processor Unit (MPU) and one or more Servo Processors (SPii). The MPU communicates with the SPiis through a fast PCI bus or a real-time EtherCAT network. Each SPii is a node that controls up to four axes at a fixed sampling and update rate of 20kHz. The MPU can manage systems with up to 64 fully synchronized axes and many I/Os. Axes and I/Os can be added simply by connecting additional SPiis to the network. ACS Motion Control third generation Servo Processor The Servo Processor combines all the peripherals that are required to implement a complete multi-axis control system and a powerful floating point processor. Each Servo Processor supports the following: Controlling up to four axes at a 20kHz sampling & update rate Up to 60 million counts/second digital encoder interfaces for all axes Up to 65,536X Sin-Cos encoder multiplier with up to 2.5MHz input frequency for all axes Position registration (MARK) on input 16 bit analog drive commands High resolution PWM for direct control of two and three-phase bridges High speed incremental position compare (PEG) with under 0.1µS delay Flexible motion, time and I/O control All SPiiPlus controllers provide on-the-fly modification of any motion variable, highly flexible multi-axis synchronization and I/O event management with submicrosecond delay. Synchronization between virtual or physical axes can include master-slave, electronic gearing, cam motion, group (vector) motion and more. EtherCAT master EtherCAT real-time network Axes and I/Os Axes and I/Os Axes and I/Os Axes and I/Os Axes and I/Os Axes and I/Os Nanometer positioning and high velocity When high speed and nanometer position resolutions are required, OEMs have been limited to expensive laser interferometer feedback systems. With our 2.5MHz SPiiPlus Sin-Cos encoder multiplier, users now have a much less expensive alternative using analog optical encoders and laser-based ultra fast encoders. By using a SPiiPlus controller with low-noise linear drives to control an XY table with speeds up to 1 meter per second, a stand-still jitter of 1 nanometer was achieved by using a 250 lines per mm analog Sin-Cos encoder, with an 8,192 multiplication factor.

5 Through Better Technology Fast settling time, minimal jitter, fine constant velocity, simple setup The servo performance can be defined and measured mainly by dynamic position following error, settling time, standstill jitter and constant velocity quality. With our advanced Frequency Response measurement Function (FRF) and multi-channel soft-scope, all these variables are easily monitored, analyzed and optimized. Dynamic position following error can be optimized by increasing the bandwidth of the control loops. Jitter and settling time are minimized by applying a powerful profile shaping algorithm. Constant velocity is significantly improved by compensating for magnetic cogging of the motor, which is one of the main disturbances affecting the smoothness of velocity at low speeds. Special tailored control algorithms for your special needs ACS controllers are ideal for unique solutions, such as handling of multiple feedback devices and switching between them on the fly. The software is designed for ease of modifications of the control algorithm. Our expert application development engineers can tailor the control structure to optimize the performance of your system with minimum development time and effort. High resolution linear stage. Position Error (red) with standard algorithm New! ServoBoost - for unprecedented level of performance The standard servo algorithm allows very good performance in terms of move and settle, constant velocity and standstill stability. However, in cases that an additional performance enhancement is required, the ServoBoost technology is the answer. With the ServoBoost option it is possible to achieve a better, more robust and consistent servo performance that is insensitive to large changes in the system parameters. This technology should be considered when: - Extremely high accuracy constant velocity is required. ServoBoost provides a typical enhancement of x5. - When standstill position jitter on the order of a nanometer is required. - There are large changes in load or system dynamics. It provides an automatic adaptation that yields consistent and insensitive performance. - The system suffers from low-damping resonances that limit performance. ServoBoost provides an automatic compensation for such resonances. - The complexity of the system is such that standard algorithms cannot provide the desired bandwidth. Examples: systems with low stiffness, large inertia mismatch. Position Error (red) following a 50% load increase with standard algorithm 5 Same stage with ServoBoost With ServoBoost acsmotioncontrol.com

6 Better Software Tools For 6 Application Development Kit - better tools for faster setup, development and diagnostics The SPiiPlus suite of software tools is designed to minimize time to market while providing the flexibility to meet the specific machine requirements throughout its complete life cycle. It provides extraordinarily easy setup, fast application development, and quick diagnostics for all SPiiPlus control products. All tools include a built-in simulator, powerful remote access and diagnostics, and fast error recovery, thus reducing training effort and costs. The following tools are available: SPiiPlus MMI - A comprehensive Motion-Machine Interface (MMI) SPiiPlus library - An advanced API for host programming SPiiPlus Utilities - For software maintenance The following packages CDs are available: 1. SPiiPlus MMI Application Studio - It includes a basic version of the SPiiPlus MMI, the SPiiPlus Utilities, full documentation of all ACS products and software tools, and a comprehensive training program. It can also be downloaded from our website. 2. SPiiPlus MMI Advanced Application Studio It includes the full version of the SPiiPlus MMI, SPiiPlus Utilities, full documentation of all ACS products and software tools, and a comprehensive training program. 3. SPiiPlus Host ADK It includes the SPiiPlus Library API for host programming MMI - Motion & Machine Interface A comprehensive suite of easy-to-use software tools Superior performance - Frequency response function (FRF) - Multi-channel scope - High sampling rate - ACS Adjuster servo tuning wizard User friendly - One common software platform for all products - Simple to use man-machine interface - Motion manager Powerful programming - PLC, IEC programming in addition to ACSPL+ multi-tasking motion language - A complete set of API functions for host programming - Communication monitor window - Program manager - Safety monitor - I/O monitor All tools operate on Windows ME/ XP/VISTA, Windows 7, and are continuously updated to support new available platforms. 8 channel scope

7 Better Machine Control SPiiPlus MMI a comprehensive Motion & Machine Interface (MMI) The MMI provides an easy-to-use set of interactive tools for configuring, servo tuning, programming and viewing parameters. It includes an ACSPL+ program manager, an eight channel interactive oscilloscope with FFT capability, a frequency response function analyzer (FRF), a communication terminal, a motion manager, an I/O monitoring screen, safety monitoring features and application management tools. Frequency Response Function Analyzer (FRF) measure and optimize your system response; The FRF is a powerful servo analysis graphical tool with which you can measure the frequency response of your electromechanical system up to 10kHz and optimize the whole system performance. The FRF enables you to: Identify and compensate for mechanical resonances Increase machine throughput by increasing bandwidth Improve machine stability Measure differences between similar machines Identify machine performance deterioration over time SPiiPlus Simulator significantly shortens your system s time-to-market ACS software tools are provided with a unique controller simulator. You can develop host programs and PLC and motion programs and logically debug them without attaching any hardware. You can develop a full simulation of your entire system on the host and use ACSPL+ programs to emulate changes of inputs, outputs, safety faults, errors and more. SPiiPlus Library an advanced API for host programming The SPiiPlus library supports simultaneous communications and multi-threaded applications with up to sixteen communication channels and interrupts with callback functions. One application can communicate with several controllers or several applications can communicate with one controller. The library resolves all communication traffic issues. A comprehensive set of drivers, in conjunction with C and COM Dynamic Link Library (DLL), are available for host programming in C/C++/.NET/Visual Basic and LabView. The communication physical link can be PCI bus, RS-232, and/or Ethernet. The library supports the following 32bits and 64bits operating systems and is continuously updated to support new ones as available: Windows ME, Windows XP, Windows Vista, Windows 7. SPiiPlus Utilities - for simple software maintenance With the SPiiPlus Utilities you can easily upgrade firmware, recover from errors and manage complex applications. acsmotioncontrol.com 7

8 Programming At Its Best 8 ACS products combine a powerful PLC and multi-axis controller for complete machine control ACS control products can be programmed both by PLCopen IEC languages that are optimized for logic and process sequencing, and by ACSPL+, a powerful motion language, developed by ACS. As a PLC, the controller can access all built-in motion axes and I/Os. The motion capabilities of the PLC can be enhanced using ACSPL+ to implement multi-axis motion, arbitrary path generation, gantry table control function blocks and more. MODBUS and Ethernet/IP protocols support The MODBUS protocol enables various HMI operator interface terminals to interface with any SPiiPlus controller through both serial RS232 and the Ethernet channels. WIth Ethernet/IP all SPiiPlus controllers can interface with any Rockwell PLC devices supporting Explicit and Implicit messaging. PLCopen graphical programming ACSPL+ advanced motion programming made simple ACSPL+ is a true multi-tasking, high level language for programming all ACS controllers. ACSPL+ supports complex motion-time-events and sequences with accurate positioning and timing. Multi-tasking high level compiled language User-defined units and parametric programming for simple reuse of programs Complex mathematical expressions 64-bit floating point arithmetic Rich set of logical, statistical, arithmetic, trigonometric and signal processing functions Large user memory (>128MB) User-defined autoroutines: triggered when a predefined set of conditions is satisfied Extensive safety and diagnostics Real time data collection at rates up to 20kHz Multi-axis point-to-point, jog, tracking and sequential multipoint motion Segmented motion made of arcs and lines Arbitrary path with PVT cubic interpolation Third order profiles (S-curve) On-the-fly change of target position, velocity and acceleration Inverse kinematics and coordinate transformation Master-slave with position and velocity locking (electronic gear/cam) and Virtual master axis Accuracy enhancement Multi-axis dynamic error mapping Backlash compensation Powerful Gantry table Control ACSPL+, simply powerful This ACSPL+ program demonstrates a two dimensional move generated by two axes that are controlled by different MC4U units in a MC4Unt network system. The Master controller within one of the MC4U units executes the program and generates the profile for the two axes. axisdef X_Axis=3,Y_Axis=23 Int J_count; Real Pi ENABLE (X_Axis,Y_Axis); Pi = REP: J_count = 0 Loop 100 ptp (X_Axis,Y_Axis), 200 * cos(2 * Pi/100 * J_count), 300 * sin(2 * Pi/100 * J_count) J_count = J_count + 1 End Goto REP STOP

9 Better Motion Control Products A line of controllers to meet your specific needs ACS offers a comprehensive line of controllers and control modules, using one common architecture, to ensure that your application s requirements are met in the most economical way. MC4U control module - the highest performance solution for motion-centric, multi-axis machinery The MC4U Control Module addresses the needs of the 19 most demanding motion centric applications with high 22 axis count, flexible configuration and scalability, and the optional full functionality of a PLC. The MC4U includes up to eight built-in digitally controlled universal motor drives that can be programmed to control any motor technology. With our unique EtherCAT real-time network technology, many MC4U units, other ACS network components and third party drives and I/O devices can be networked together, thus creating one fully integrated system that controls up to 64 axes of motion and hundreds 9 11 of more I/Os. In this MC4Unt system, one of the MC4U units is the master controller and all other components are slaves. The SPiiPlusNT controller within the master MC4U unit directly controls all the axes including those of the slaved MC4Us and third party drives. For motion centric multi-axis machinery, the MC4U system delivers the highest performance at a better cost when compared to any other available solution in the market. New! 9 SPiiPlus CM Control Module - the optimal solution for motion centric machinery with up to 3 axes The SPiiPlus CM integrated control module is based on the same technology as the MC4U and complements the MC4U in demanding applications in which the number of axes is limited. It combines an eight axis machine controller, power supply and up to three internal universal digital drives. It can control up to additional five axes utilizing external servo and step motor drives. Model Number Input Voltage (Vac) Bus Voltage (Vdc) Phase Current Cont. /Peak (A) Output Power per Axis Cont./Peak (kw) SPiiPlus CM-1/2/3-A / /2.7 SPiiPlus CM-1/2/3-B / /5.5 SPiiPlus CM-1/2/3-C / /8.2 acsmotioncontrol.com

10 Superior Throughput & Accuracy SPiiPlus LF-CM - an economical machine controller for cost sensitive applications The SPiiPlus LF-CM card -level module combines a machine controller and four 60V/5A servo drives addressing the needs of applications that are cost sensitive and where space is at a premium, such as biomedical table top applications. It utilizes power supplies that are already available in the machine to minimize cost and space. Model Number Bus Voltage (Vdc) Phase current Cont./Peak (A) Output Power per Axis Cont./Peak (kw) SPiiPlus LF-CM-2/ / / SPiiPlusNTM - econo EtherCAT master controller The SPiiPLusNTM is an economical EtherCAT Master Controller. It controls up to 32 fully synchronized axes and hundreds and more IOs. Like all ACS EtherCAT Masters, it works both with ACS EtherCAT slaves, such as the UDMnt, the MC4Udc as well as with EtherCAT components of other vendors that comply with CAN over EtherCAT (CoE). As one of the SPiiPlus line of controllers, it uses the same programming languages, provides the same set of features and is supported by the ACS comprehensive set of support tools. SPiiPlusSC - soft controller The SPiiPlusSC is an EtherCAT-based Multi-Axis Machine Control software package that runs on the host PC under the Windows application of the user. It provides the ultimate performance and flexibility to demanding high throughput machinery such as SMT pick & place and food packaging systems. The SPiiPlus Motion Controllers The SPiiPlus line of controllers are designed to work with third party drives. It includes the following products: - The SPiiPlus SAR up to 8 axis enclosed controller with built-in power supply - The SPiiPlusLF 4 axis economical and Low Footprint standalone controller - The SPiiPlusPCI up to 8 axis controller that plugs into a PC and communicates with the host through the PCI bus All controllers are available with a variety of options designed to optimize the performance of your machine. New! SPiiPlus SAR SPiiPlus LF SPiiPlus PCI

11 MC4U Complete Control Solution MC4U: customized multi-axis control using standard components The MC4U is the first complete solution that addresses the tailor-made, flexible machine and motion control needs of OEMs. The MC4U s high performance, Lego-like system combines a motion and PLC controller, up to 8 universal motor drives, power supplies and networking capability to provide a complete machine and motion control solution to demanding motion centric machine automation. Built from standard plug-in components, the MC4U addresses all machine control needs, resulting in shorter development cycle time, reduced risk, small footprint and lower costs. High performance stems from the fine balance and interaction of the controller software, its hardware interfaces, the drives, the power supplies and the integration of them all. Each and every component is designed to deliver performance and the system is tested as a whole to ensure that your most demanding specifications can be achieved. Our unique EtherCAT real-time networking technology adds another unprecedented level of scalability and flexibility to machine designers. Now many MC4U units and additional ACS and third party EtherCAT components can be networked together, thus creating one fully integrated system that can control up to 64 highly synchronized axes of motion and hundreds more I/Os. MC4U features and benefits: Integrated 8-axis machine controller, 8 universal drives and power supply Units can be networked together to create a fully integrated solution for up to 64 axes and hundreds of I/Os Wide power range of motor drives - from 100W to 10kW High axis density Short lead time for a fully custom-tailored application Shorter development time, reduced risk, lower cost ACS field proven robustness and reliability 11 MC4U: high performance, simple connectivity, modular expansion 8-Axis Control Module HSSI Expansion Bus Ethernet HMI User Application Controller Servo s Power Supply RoHS acsmotioncontrol.com

12 Tailored To Your Exact Needs Lower cost through integration The MC4U is a flexible automation controller that integrates the drives and power supplies with a high performance SPiiPlus machine controller. The MC4U lowers the cost of controlling machines with a PLC and up to 64 demanding axes by eliminating the need for an intelligent controller for each axis and a separate PLC. The host computer no longer needs to manage the network and can simply interface with the single machine controller. MC4U configuration example 12 Modularity & scalability by design The MC4U can be configured to meet the performance you need and there is no need to pay for features that are not needed. For your specific application you can select The proper controller - a high performance one with extensive set of advanced features or an economical one that reduces the cost; The set of drives to meet your exact motor type and power needs The power supply to meet the motor drives power needs The proper enclosure that optimizes footprint while accommodating all the above components The upright piano enclosure - simple connectivity and the right size Different enclosure sizes are available to provide the minimum size and volume needed to meet your power and number of axes needs. 320Vdc, 3A, 4 axis module 320Vdc, 20A, 2 axis Module 320Vdc, 8kW power supply MC4U Configuration Wizard SpiiPlus 8 axis controller The MMI s MC4U Configuration Wizard is used to define new MC4U configuration and to identify existing configurations. It provides information about the components in the system and the connectivity between them. Enclosure Enclosure dimensions Height ±1 Width [mm] With front brackets With rear brackets With no brackets Depth [mm] With extractors Without extractors ±1 502 ±1 292 ±1 279 ±1 483 ±1 476 ±1 436 ±1 292 ±1 279 ± ± ± ± ± ±1 211± ± ±1 Net weight [Kg] RoHS

13 MC4U Line of Controllers MC4U components mix and match to meet your exact needs The SPiiPlus family of multi-axis machine controllers is designed to address the control requirements of the most demanding motion centric applications, such as semiconductors manufacturing, wafer inspection and Flat Panel Display assembly and testing equipment. The SPiiPlus provides outstanding smooth motion, full PLC programmability, ease of use, sub-nanometer resolution, high speed for maximum throughput and the best possible accuracy and scalability as an EtherCAT Master. For systems with up to 8 axes without EtherCAT network capability: 1. SPiiPlus 3U-LT Economical controller 2. SPiiPlus 3U-HP High performance controller Choose the SPiiPlus 3U-HP if you need one of the following features: SIN-COS analog encoders Use Linear Modules Special (Gantry or other) control algorithm Input Shaping for reducing move and settling time SPiiPlus machine controller For EtherCAT distributed systems: 1. SPiiPlusNT-HP-32- High Performance EtherCAT master controller for applications with up to 32 axes 2. SPiiPlusDC-HP- High Performance slaved Controllers 3. SPiiPlusNT-LT-32- Economical EtherCAT master controller for applications with up to 32 axes 4. SPiiPlusDC-LT- Economical slaved Controllers 13 For distributed systems with additional EtherCAT slaves, if one MC4U unit acts as the EtherCAT master, it includes a SPiiPlusNT controller. All other MC4U units include a SPiiPlusDC Controller. If a dedicated master is used, such as the SPiiPlusNTM or the SPiiPlusSC running on a host, then all MC4U units include SPiiPlusDC Controllers. Digitally controlled linear drives for the lowest possible jitter and noise The LDM line of digitally controlled universal linear drives is specifically designed for applications with the most demanding specifications for jitter, smoothness and electrical noise. The drives can be programmed to control any type of single, two or three phase motor. With digital control, setup is simple and easy. Linear Modules Model No. No. of Axes operation from lower voltage is available upon request. Bus Voltage (Vdc) Phase Current Cont. / Peak (Amps) Output Power per Axis Cont./Peak (W) LDM3U-55V-8A / / 270 LDM3U-55V-16A / / 550 LDM3U-28V-8A / 8 60/130 LDM3U-28V-16A / 16 60/250 acsmotioncontrol.com

14 MC4U Universal s High performance universal PWM drives for the best performance with any type of motor The MC4U line of universal digital PWM drive modules is specifically designed to provide a high performance and cost effective solution for demanding multi-axis applications. The drives are optimized for low noise, providing the lowest possible jitter and velocity smoothness and are fully programmable for easy setup and diagnostics. Each drive can be programmed to control any type of single, two or three phase motor DC brushless, an AC induction, a DC brush, or a step motor with open or closed loop control. The MC4U drive modules support linear and rotary motors covering a wide power range of 100W to 10kW. modules with up to 750W per axis, include up to four drives, and drive modules with power up to 5kW include two drives for optimal performance, cost and footprint. Modules with 30/60A (7.5kW) and 45/90A (10kW) include one drive. 14 PWM drive modules Model Number Number of Axes Bus Voltage (Vdc) Phase Current Cont./Peak (Amps) Output Power per Axis Cont. /Peak (kw) DDM3U-2/4-60V-4A 2 or / / 0.3 DDM3U-4-320V-1A 2 or / / 0.5 DDM3U-4-320V-2A 2 or / / 1 DDM3U-4-320V-3A 2 or / / 1.5 DDM3U-1/2-320V-5A 1 or / / 2.7 DDM3U-1/2-320V-10A 1 or / / 5.4 DDM3U-1/2-320V-15A 1 or / / 8.2 DDM3U-1/2-320V-20A 1 or / / 11 DDM3U-1-320V-30A / 60 7 / 14 DDM3U-1-320V-45A / / 20 DDM3U-1/2-560V-5A 1 or / 10 2 / 4 DDM3U-1/2-560V-10A 1 or / 20 4 / 8 DDM3U-1/2-560V-15A 1 or / 30 6 / 12

15 MC4U Power Supplies & Accessories A line of matching power supplies A wide range of power supplies is available to match the motor drives from 28Vdc to 560Vdc. An MC4U configuration can include two supplies in a single enclosure to support two voltages or enhance power. The high voltage supplies include a shunt regulator and a 100W resistor. If more dissipation power is needed, an external 600W shunt resistor is available. Model number Input Voltage (Vac) Bus Voltage (Vdc) Nominal Power PSM3U-28V-0.5kW W PSM3U-48V-0.7kW W PSM3U-48V-1.4kW W PSM3U-320V-4kW kW PSM3U-320V-8kW kW PSM3U-320V-10kW kW PSM3U-320V-11kW kW PSM3U-320V-20kW kW PSM3U-320/48V-0.7/8kW , kW PSM3U-560-7kW kW 1 Single phase; 2 Single or three phase; 3 Three phase; 4 Features dual bus voltage outputs of 48Vdc and up to 320Vdc Expand the system capabilities via the HSSI Each SPiiPlus controller supports the High-speed Synchronous Serial Interface (HSSI). The HSSI enables the user to interface to various feedback and I/O devices at a 20kHz sampling and update rate. The user can even define the specific device with which to interface. The following devices are currently available: HSSI-IO16 an I/O module with 16 inputs and 16 outputs. Up to four modules can be connected to each HSSI adding 64/63 I/Os. HSSI-ED2 Interface to two additional axes. Each module includes an interface to two motor drives, two incremental digital encoders, limits and additional 8 inputs and 8 outputs. HSSI-HES Interface to two absolute encoders. It supports HEIDENHAIN EnDAT 2.2 and Tamagawa Smart-Abs standards. HSSI-ED2 HSSI-IO16 New! HSSI-HES 15 Filters for improved motor performance For applications with demanding standstill jitter requirements or for applications that utilize sensors that are sensitive to the electromagnetic noise, the MC4U-MF-CD three-phase motor filters reduces the noise induced by the drive s high current switching. Regeneration shunt resistor If the power supply built-in regeneration resistor is not enough, the external MC4U-REGEN 600W shunt resistor can be used to absorb higher energy ratings. acsmotioncontrol.com

16 Better EtherCAT Control Solutions A powerful line of network solutions ACS introduces a powerful line of EtherCAT Network control solutions addressing the most demanding needs of OEMs for multi-axis motion centric machinery. The controller combines the highly capable SPiiPlus motion and machine control software and an EtherCAT master. The EtherCAT master controller can be either Embedded within the MC4U control module (SPiiPlusNT) A dedicated standalone economical controller (SPiiPlusNTM) A soft controller running on the host PC (SPiiPlusSC) All controllers use the same software and development tools. As an example, you can start working with the SPiiPlusNTM, developing your complete application, interface set up and tuning, and afterwards switch to the SPiiPlusSC, gaining the added performance and cost benefits, with practically zero effort. 16 The EtherCAT controller features: Up to 64 fully synchronized axes using a distributed clock with jitter better than 0.1 microsecond Hundreds and more I/O points Open architecture supports ACS and qualified third party EtherCAT components Multi-Input Multi-Output (MIMO) control algorithms for multi axis systems such as Gantry tables and articulated robots Available ACS EtherCAT modules: Servo drives, Step motor drives and I/Os Real-time network integrity and safety monitoring and handling One common software and one common set of development and support tools Capable and cost effective EtherCAT network modules MC4Udc The whole line of multi-axis drive modules SPiiPlus UDMnt A line of single and dual axis universal motor drive modules. Up to 60Vdc and 10A peak current. SPiiPlus SDMnt A line of cost effective eight and four open loop axis step motor drive modules. 40Vdc and 3A motor current. SPiiPlus PDMnt A four axis Pulse/Dir interface, specifically designed to answer the need for step motors and servo drives with Pulse/Dir interface. SPiiPlus IOMnt I/O modules with up to 32 digital inputs and 32 digital outputs. See ACS website for the latest list of third party and ACS supported Ethercat modules.

17 More Flexibility and Scalability A line of EtherCAT controllers to match your needs SPiiPlusNT MC4U EtherCAT Master. When installed in an MC4U control module (instead of the SPiiPlus 3U controller), it adds to it full EtherCAT master capabilities. In addition to controlling the internal drives and related axes, it controls additional axes and I/Os via the EtherCAT real-time network. The SPiiPlusNT EtherCAT master generates the motion profile for all axes. All real-time control algorithms of the slaved axes are executed by the slaved drives. Motion performance of the MC4U internal drives and of those axes that are using external EtherCAT drives are identical without any degradation of the EtherCAT slaved axes due to the network. Communication with the host computer and application is via fast Ethernet and RS232 channels. SPiiPlusDC MC4U EtherCAT slaved Controller. When installed in an MC4U, it converts it into an EtherCAT slave multi-axis (up to 8 axes) drive module. It accepts motion profiles from the EtherCAT master controller and executes the real-time control algorithms. HMI User Application Ethernet 17 SPiiPlusDC MC4Unt 8-Axis Control Module MC4Udc 8-Axis Module MC4Udc 6-Axis Module SPiiPlusDC SPiiPlusNT SPiiPlus EtherCAT Master SPiiPlus IOMnt 32/32 Digital I/O Points SPiiPlus UDMnt 2-Axis Module SPiiPlus PDMnt 4 x Pulse/Dir Interface acsmotioncontrol.com

18 Unique Soft Control SPiiPlusNTM - Standalone EtherCAT-based Multi-Axis Machine Controller. Like the SPiiPlusNT, it generates the motion profile for all axes and communicates with the host computer and application via fast Ethernet and RS232 channels. HMI User Application SPiiPlusNTM EtherCAT Master Ethernet SPiiPlusDC MC4Udc 8-Axis Module MC4Udc 6-Axis Module SPiiPlusDC SPiiPlus IOMnt 32/32 Digital I/O Points SPiiPlus UDMnt 2-Axis Module SPiiPlus PDMnt 4 x Pulse/Dir Interface 18 SPiiPlusSC - Soft Controller. The SPiiPlusSC is an EtherCAT-based Multi-Axis Machine Control software package that runs on the host PC under the Windows application of the user. The SPiiPlusSC combines the SPiiPlus control software, a real-time operating system and the EtherCAT interface (stack). The SPiiPlusSC communicates with Windows based host applications via shared RAM, thus providing the highest communication throughput possible for multi-axis applications with high volume data transfer needs, such as SMT assembly machines, advanced X-Ray medical scanners and complex packaging machines. SPiiPlusDC All in one: HMI User Application SPiiPlus SC EtherCAT Master MC4Udc 8-Axis Module MC4Udc 6-Axis Module SPiiPlusDC SPiiPlus IOMnt 32/32 Digital I/O Points SPiiPlus UDMnt 2-Axis Module SPiiPlus PDMnt 4 x Pulse/Dir Interface

19 Control Solutions For All Your Needs Performance, scalability and flexibility - The right solution for your needs is here All ACS motion controllers are based on the same platform and most of the features and capabilities are common to all products. The table below highlights the main differences between the various products. For full specifications and ordering options check the specific product data sheet available for downloading from our website ( Number of Axes MPU cycle rate Integrated drives Networking External drives analog interface External drives P/D interface Sin-Cos encoder HSSI channels Comm. channels SPiiPlusSC SPiiPlusNTM MC4Unt/dc MC4U SPiiPlus CM SPiiPlus LF-CM SPiiPlus SAR SPiiPlus SAR-LT SPiiPlus LF SPiPlus PCI kHz 1kHz 1kHz 4kHz 4kHz 1kHz 4kHz 1kHz 1kHz 4kHz 1kHz 1kHz EtherCAT Master EtherCAT Master EtherCAT Master / Slave CANopen Master CANopen Master CANopen Master CANopen Master CANopen Master Shared RAM 1xEthernet, 1xEtherCAT, SPiiPlus PCI-LT xEthernet, 2xEthernet, 1xEthernet, 1xEthernet, 2xEthernet, 2xEthernet, 1xEthernet, 1xEthernet, 1xEthernet, SPiPlus PCI-ST 1xEthernet, 19 acsmotioncontrol.com

20 What ACS Motion Control Products Do For You: Take your machine design to the next level of performance Achieve the highest level of performance possible with commercially-available standard hardware Achieve sub-nanometer performance, faster step and settle time, higher throughput Enable maximum benefit from your equipment investment Shorten your time to market by using proven products and proven software Provide the shortest path to your machine control solution with easy-to-use software tools Facilitate training and multi-user development with better software tools One software suite that operates across all ACS Motion Control products Enable development and debugging of your machine control software before hardware installation with the powerful simulator available with all ACS software tools ACS Products Brochure, November 2010, Version 5 International Headquarters: ACS Motion Control Ltd. Ramat Gabriel Industrial Park, POB 5668, Migdal Ha Emek 10500, Israel Phone: , Fax: eyals@acsmotioncontrol.com North American Office ACS Motion Control Inc City West Parkway Eden Prairie, MN 55344, USA Phone: Fax: jasong@acsmotioncontrol.com Asia Customer Support Center ACS Motion Control Korea Digital Empire Building , 486 Shin-dong, Yeongtong-gu Suwon, Gyeonggi-do KOREA, Tel: Fax: tgpark@acsmotioncontrol.com Europe Customer Support Center ACS Motion Control Germany Windschläger Str. 43 D Offenburg, Germany Phone: Fax: g.baum@acsmotioncontrol.com China Customer Support Center ACS Motion Control China D2 Building No.479 Chundong Rd. Xinzhuang Industrial Park, Shanghai, Tel: Mobile: Fax Jasonhu@acsmotioncontrol.com