Controller and Drivers

Transcription

1 Controller and Drivers All ADC's slits can be operated with almost all commercially available controller drivers on the market. We use standard NEMA stepper motors for each axis. Our customers have also the option of using ADC's CTL-100 and CTL-300 Controller/Drivers. CTL-100-Multi-Axis Stepper Controller Module The CTL-100 is a high-performance, integrated motion controller and driver offering outstanding trajectory accuracy and exceptional programming functionality. It combines simplicity of operation with advanced features to precisely control the most diverse displacement and synchronize them via measurement, command, or external acquisition strings. Supplying 500 W of motor drive power, the CTL-100 can simultaneously handle up to four axes of motion using stepping motors. The CTL-100 controller is based on the popular IMS MicroLynx stepper controller, see Four drives are provided per case, pre-programmed for multi-drop communications. PC host communications is accomplished using an RS232 to RS485 adapter (included). Multiple controllers can be connected in RS485 multi-drop. A simple cable assembly connects the controller to the slit (4 axes) using a standard DB-9 cable. DC power (+24v) is provided with an external power supply. The front panel provides jog buttons for each direction on each motor. Limit indicators display the status of limit switches. The software function of the MicroLynx is extensive and similar to the IMS MDrive controller. Micro-stepping resolution of 50,000 steps per rev can be achieved. Preprogrammed routines for Homing to the outer limit switch can be provided by ADC. Technology The CTL-100 uses a MicroLYNX Integrated Microstepping Motor Drive and High- Performance Machine/Process Controller. The MicroLYNX motion control system integrates a bipolar stepper motor microstepping drive and a versatile programmable indexer with expandable I/O and multiple communication ports all running off a single supply. The MicroLYNX4 runs at +12 to +48VDC with 3A RMS (4A peak) output and the MicroLYNX-7 runs at +24 to +75VDC with 5A RMS (7A peak) output. The

2 MicroLYNX allows the user to customize the I/O to suit the application. Six isolated +5 to +24VDC short circuit protected, general purpose programmable I/O lines are standard, with optional expansion modules that can be added for a total of 18 lines. Other I/O types available include high speed differential I/O and analog/joystick inputs. The MicroLYNX features two isolated fully independent communication ports, adding unique flexibility and allowing simultaneous usage of RS-232, RS-485 and CAN. Additional features include: open/close loop stepper motor control; flexible instruction set to allow for following, registration, electronic gearing & point-to-point motion applications; programmable current settings to boost acceleration or run cooler; and programmable filtering on inputs. The robust design of the MicroLYNX makes it well suited for industrial electrical environments and ideal for applications such as: packaging, medical, semi conductor, labeling, inspection, engraving and material handling. Each unit is 100% tested and comes with a 1-year warranty. Motion The CTL-100 provides several modes of positioning including synchronized and nonsynchronized point-to-point movement and jogging. Acceleration and deceleration rates are programmable on the fly as well as motor running, holding, and acceleration current. Encoder feedback can be used to make end-of-move position correction. Preprogrammed motion profiles can be synchronized to external events using IO functions. The CTL-100 also masters exact synchronization with external data capturing tools that can be triggered by position or distance interval. The MicroLYNX can accept up to 3 optional IO daughter cards. Optional cards include a 2-channel, 12-bit, 0-5v analog input, which allows for analog data acquisition or joystick control, a high speed input/encoder card for synchronization or position maintenance to an encoder, and a 6 point digital IO card, used for monitoring, controlling, or synchronizing with external devices such as shutters, lasers, valves, or relays. Examples include stopping a motion or executing an internally stored program dependent on an input bit, or supplying the status of a motion to the output bits. Computer Interfacing The CTL-100 is available with RS-232-C and RS-485 computer interfaces, the CAN interface is optional. Party mode allows up to 32 axes to be linked together in a single, multi-drop, system using RS485. The IMS Terminal program is available for access via PC but HyperTerminal has been used as well. Programming The CTL-100 makes programming complex motions easy using a powerful set of intuitive, 2-5 letter commands. 291 labels, flags, and variables are available. Variables can be added, negated, multiplied, divided, or read to build complex motion applications. Special commands for conditional jumps do-while operations, if/then/else statements, and tell-status commands are incorporated as well to perform high performance tasks without host PC control. Two user programs can run simultaneously, one in the foreground and one in the background. Other sophisticated capabilities include on-the-fly position, velocity, or trajectory changes for complex motion and alignment routines; complex math functions such as

3 Sin/Cos, Boolean Logic, and greater-than less-than evaluations, and a powerful set of IO options and control. User Friendly While the CTL-100 is a very powerful motion controller and processor it is still very easy to use. Web based software supports system firmware upgrades. When used with ADC stages, all settings can be done with just a few clicks. The ADC Stepper Motor control unit is primarily intended to control the position of the blades in our slit units but can be used on other applications that support 4 wire stepper motor connections. This controller is based on the popular IMS MDrive 17 controller and provides all the features and functions of that drive except for encoder based operations. Four drives are provided per case, pre-programmed for multi-drop communications. PC host communications is accomplished using an RS232 to RS485 adapter (included). Multiple controllers can be connected in RS485 multi-drop. A simple custom cable assembly connects the controller to the slit assembly. DC power (+24v) is provided with an external power supply. The front panel provides jog buttons for each direction on each motor as well as indicators that display the status of limit switches located on each axis. Micro-stepping resolution of 50,000 steps per rev can be achieved. Preprogrammed routines for Homing to the outer limit switch can be provided by ADC. The ADC stepper controller represents an evolutionary step based on our extensive experience with the IMS MicroLynx in our effort to provide our customers with a low cost, function packed, controller for their small stepping motor applications. CTL-300 Multi-Axis Stepper Controller Module Advanced Design Consulting recognizes a need for a six axis motion controller with contouring capability in the synchrotron market segment. Contouring involves the

4 concerted motion of multiple axes, that is, the motion of one axis is dependant on another such as would be required to describe a circle in an XY plane. ADC has developed a controller model based on the Parker ACR9000 with integral stepper drivers called the CTL-300. This motion controller can manage either servo or stepper motors in a concerted motion, accepts encoder feedback, and provides Ethernet or RS232 communications. Technology The CTL-300 controller is designed to fill the need for a sophisticated 6 axis controller that can accept encoder feedback and contour any or all axes. This new controller is based on the Parker ACR9000, which supports these requirements but also has the product maturity to be easily applied to almost any application. The ACR9000 is a dedicated, motion controller capable of controlling up to 6 axes of servo or stepper motors, other ACR9000 models can control up to 8 axes. All ACR9000 series controllers feature extensive I/O facilities and include fast trigger inputs as well as analog/digital outputs and inputs. Each axis is provided with shutdown and enable outputs, inputs for home and end-of-travel limits, drive fault indication, step and direction pulse or +/-10v servo command output, and input for a quadrature encoder per axis plus a master encoder. Encoder and Encoderless axes can be mixed on the same ACR9000 unit. Parker maintains extensive, free, hardware and software support.

5 Computer Interfacing The controller is equipped with two RS232 ports. The second can be configured as RS485 if necessary. A built-in 10Base-T Ethernet interface facilitates easy integration with local area networks. Programs and data can be downloaded via Ethernet and status can be obtained on a regular basis. Software All ACR9000 series products are supplied with a Motion Planner code development package that runs on a PC and is specifically designed to develop complex motion control programs in ACR9000 language which is a collection of highly specialized function calls. The language resembles BASIC but yet supports a broad range of special function commands related to motion control. Software is developed in a text editor and downloaded to the unit for execution. The Parker ACR9000 allows up to 10 tasks to run concurrently. These can be prioritized for best response. ACR9000 programs can declare integer, real and binary variables (up to 255 each). An external system, depending on the type of communication method, can access all or a subset of these variables for reading and writing. The Software is well defined in two manuals from Parker. The ACR9000 Programmers Guide and the ACR9000 Command Reference. A LabView VI Motion Library is also available from Parker. User Friendly ADC packages the ACR9000 into a custom, 19 inch, desk top rack. Four Parker E-AC drives are provided for stepper control. Each E-AC can supply up to 3.5 amps, bipolar,

6 and is programmable to up to 51,200 microsteps per rev. D-sub connectors in the back of the cabinet provide connection to motors, limits, encoders, and on-board I/Os. External cables are available to connect to our jacks, slides, and slits. The front panel provides a power on switch and indicator. A 24 volt DC power supply is also included. The unit is assembled and fully tested. ADC provides a generic software package that merely configures the ACR9000 for 4 motors and prepares the motors to be moved directly by a host computer. Errors and status can be tracked using the Parker commands. Alternatively, ADC can provide custom software to fit your application. ORDERING INFORMATION Please use the following chart when ordering Controller/Drivers. For example: To order a Controller/Driver with encoder based operation, the model number would be - CTL E Custom Controls and Electronic Capabilities Advanced Design Consulting has several electrical /software engineers and build techs capable of providing custom circuit design and complete turn-key control systems. Some of our skills include integrated PLC design and programming, analog and digital circuit design, logic design including PLA and FPGA programming, stepper and servo motor applications, microprocessor, RFID, serial and RF communications, and system controllers. We have a suite of instrumentation tools for test and measurement of temperature, position, angular displacement, tolerance, acceleration, vacuum, and motor controls with extensive stock components for prototyping and breadboard. Our electrical lab includes various precision DVMs, oscilloscopes, power supplies, and other tools. Our design tool set includes Cadence Capture for circuit board design, Xilinx ISE for FPGA design, ModelSim for simulation, and StateCad. Schematics are drawn on various platforms with output to DXF. Microprocessor experience is broad but recent projects focus on the PIC Micro Family from MicroChip. ICE units and code simulation for the PIC microprocessors are inhouse. Software skills and development platforms include Microsoft Visual C++, PERL, LabView, Visual Basic, CNC, and generic PLC (AB, NAIS, GE-Fanuc, Schneider, etc.) and Parker ACR and Accroloop.

7 Our primary skill, however, is the integration of these components into a functioning system, fully debugged, documented, and ready for operation.