Soloist. Position Controller and Servo Amplifier. Single axis digital servo controller with integral power supply and amplifier

Transcription

1 Soloist Series Motion Controllers Soloist Position Controller and Servo Amplifier Single axis digital servo controller with integral power supply and amplifier Advanced software architecture shortens customer development time; use C#, VB.Net, C++, and LabVIEW combined with our full IDE and multitasking operating system Host-mode operation allows you to send commands with your PC via Ethernet or USB for immediate execution Ethernet or USB permits networked Soloists for multiaxis sequenced motion and IO passing Ideal for simple applications with minimal setup or complex applications that use the full flexibility and scalability From Left: Soloist CP, Soloist CP with additional IO, Soloist MP, and Soloist MP with additional IO. Positioning control for brushless, DC brushtype, or stepping motors Available in models up to 30 A peak current Introduction Aerotech s Soloist CP is a single-axis servo controller that combines a power supply, amplifier, and position controller in a single package. The Soloist can control up to five tasks simultaneously, as well as handle variables and manage IO, making it well-suited for demanding production applications. The Soloist has high-speed position latch inputs and advanced data logging capabilities, making it ideal for laboratory and test instrument applications. The advanced software architecture shortens customer development time, while including support for C#, VB.Net, C++, and LabVIEW, combined with our full IDE and multitasking operating system. Host-mode operation allows you to send commands with your PC via Ethernet or USB for immediate execution, while Ethernet or USB also permits networked Soloists for multiaxis sequenced motion and IO passing. The Soloist MP offers the same advanced software as the CP but in a smaller package designed for OEMs that can supply bus power from existing power supplies. The HMI software shares a common theme with other Aerotech software products providing the user with a clear, easy to use platform. This Windows -based interface provides powerful diagnostic, development, and analysis tools for OEMs and end-users alike. Total Solution The controllers are fully tested and ready to run right out of the box. Aerotech can integrate the Soloist into a complete motion system, removing the burden of parameter setup and axis tuning.

2 Soloist CP FEATURES Practical Power Each series is capable of driving a wide range of motors including brushless, DC servo, and microsteppers. Brushless motors are sinusoidally commutated to minimize torque ripple. Using a digital servo loop with feedforward, the Soloist tightly tracks velocity and position trajectories with virtually zero error. On-board autotuning and built-in calculators make servo tuning simple. Variables, Math and More With variables and math capability, one program can be used to produce a variety of parts by simply prompting the user for new application data. Application Versatility The Soloist has other built-in features such as axis calibration and backlash compensation, so you can maximize your machine s accuracy and precision. The user units feature makes it easy to customize the Soloist to your specific machine, allowing custom units for both linear and rotary applications. The controller is equipped with dual encoder inputs, so you can tackle master-slave applications or achieve higher accuracies with dual-loop control. Precise registrationbased moves are also possible because of the fast 0.1 microsecond acknowledge time of the Soloist. The Soloist easily handles complex functions such as output-on-the-fly and velocity profiling. Motion Controllers Soloist Series Soloist CP Features Position Range 2 Acceleration Ramp Acceleration Profile Positioning Modes Positioning Control Servo Loop Position, Current File System Programming Language Variable Memory Storage User Units Ethernet USB RS-232 Status LEDs Motor Feedback Digital Input and Output Analog Input and Output Secondary Encoder Current Limiting Shunt Regulator PSO Details ± 52 counts Rate, time, or distance based; independent acceleration and deceleration capability Linear and jerk limiting parabolic; independent acceleration and deceleration profiles possible Absolute and incremental, dynamic trajectory generation Point-to-point, velocity profiling, output-on-the-fly, registration-based moves, master-slave, dual-loop control, torque control, axis calibration, backlash compensation, free-run, autofocus, manual feedrate override (MFO) Up to 20 khz update rate with feedforward, four user-configurable digital filters (e.g., notch, low pass) Store any type of file including autorun executable programs, maintenance programs, and parameters On Soloist: AeroBasic; On PC or remote device: C++, C#, VB.net, Mnemoni c 256 KB of memory for dynamic program variables; 256 KB of memory for double precision inner-task communication; 128 KB of memory for integer inner-task communication Position Scale Factor allows for any customizable units including, but not limited to, English, metric, rotary, linear, or counts 10/100 Base T Ethernet communication interface for system setup, application networking, Soloist-to-Soloist communications, embedded programming, immediate commands, and Modbus over TCP USB communication interface for simple system setup, embedded programming, and immediate commands Variable baud rate communications system for Soloist-to-Soloist communications, Modbus RTU, handwheel, joystick, touch screen display, handheld programming terminal Green light for power, green and red light for enable/fault, green light for marker, and green light for in-position Buffered inputs for CW, CCW, home limits, marker, square-wave encoder; Hall-effect devices; 5 VDC output; optional sine-wave encoder input (requires internal encoder multiplier); support for absolute encoder (requires -PLUS option) 6 programmable speed inputs (22 with option board); 4 programmable outputs (20 with option board); 2 inputs are high 1 programmable input (2 with option board); 1 programmable output (2 with option board) Can be used for dual loop control or setup for use in any custom application Software selectable peak and rms output current limits; AC inrush protection Protects power supply against regenerative energy in high-current models (optional, 40 W maximum) Position Synchronized Output: Has 25 MHz tracking capability and 210 nanosecond from input trigger

3 Soloist MP FEATURES Soloist Series Motion Controllers Soloist MP Features Position Range 2 Acceleration Ramp Acceleration Profile Positioning Modes Positioning Control Servo Loop Position, Current File System Programming Language Variable Memory Storage User Units Ethernet RS-232 Status LEDs Motor Feedback Digital Input and Output Analog Input and Output Secondary Encoder Current Limiting Details ± 52 counts Rate, time, or distance based; independent acceleration and deceleration capability Linear and jerk limiting parabolic; independent acceleration and deceleration profiles possible Absolute and incremental, dynamic trajectory generation Point-to-point, velocity profiling, registration-based moves, master-slave, torque control, axis calibration, backlash compensation, free-run, manual feedrate override (MFO); optional IO board provides the following additional control: output-on-the-fly, dual-loop control, autofocus Up to 20 khz update rate with feedforward, four user-configurable digital filters (e.g., notch, low pass) Store any type of file including autorun executable programs, maintenance programs, and parameters On Soloist: AeroBasic; On PC or remote device: C++, C#, VB.net, Mnemoni c 256 KB of memory for dynamic program variables; 256 KB of memory for double precision inner-task communication; 128 KB of memory for integer inner-task communication Position Scale Factor allows for any customizable units including, but not limited to, English, metric, rotary, linear, or counts 10/100 Base T Ethernet communication interface for system setup, application networking, Soloist-to-Soloist communications, embedded programming, immediate commands, and Modbus over TCP Variable baud rate communications system for Soloist-to-Soloist communications, Modbus RTU, handwheel, joystick, touch screen display, handheld programming terminal Green light for power, green and red light for enable/fault, green light for marker, and green light for in-position Buffered inputs for CW, CCW, home limits, marker, square-wave sine-wave encoder input (requires internal encoder multiplier) 8 programmable inputs with option board; 8 programmable outputs with option board 1 programmable input (2 with option board); 1 programmable output with option board Available with option board application encoder; Hall-effect devices; 5 VDC output; optional and can be used for dual loop control, synch to drive, or set up for use in any custom Software selectable peak and rms output current limits; AC inrush protection

4 Soloist CP SPECIFICATIONS Model Amplifier Specifications 1) O utput Voltage Input Voltage Peak Output Current ( DC Units Soloist CP 10 Soloist CP 20 Soloist CP 30 V 0 to 320 (2) VAC or VDC A pk Continuous Output Current A Peak Output Power W pk Continuous Output Power W Maximum Shunt Regulator Dissipation W 40 (optional) 40 (optional) 40 (standard ) Power Input PWM Switching Frequency Power Amplifier Bandwidth Minimum Load Inductance Operating Temperature Storage Temperature VAC, single phase, Hz khz 20 khz Selectable Through Software m H 160 VDC (1 320 VDC) C 0 to 50 C -30 to 85 W eight k g (lb) 1.6 (3.6) Controller Specifications Program Language Servo Update Rate Length of Program Operating Modes Move Types Programmable Inputs Programmable Outputs Encoder Input Frequency Clock (Step) Input Dedicated Inputs Memory Standard Outputs Digital Inputs and Outputs Analog Inputs and Outputs Brake Relay AeroBASIC 1-20 khz Up to 1 MB Indexer, Clock/Direction, CAM, Gear, Step Up/Step Down Incremental, Absolute, Free-runnin g Six 5-24 VDC (22 with option board); One 16-bit analog standard (one additional 12-bit with option board) Four 5-24 VDC (20 with option board); One 16-bit analog (two with option board) 250 khz amplified sine (for onboard multiplier option board); 40 MHz square wave 1 MHz maximum input frequency, TTL (+5 VDC) Thermistor, Enable, Reset, Estop, DIR, CLK, CW, CCW, Home, Limits, Hall-effect devices 1 MB FLASH memory for user programs and parameters; 8 MB of RAM Fault, Brake Relay 4 opto inputs, 2 high-speed opto inputs, 16 additional opto inputs with the IO board option; 4 opto outputs, 16 additional opto inputs with the IO board option; Sinking and Sourcing selection is available through the parameters; 5-24 VDC can be used with any IO pins except the 2 high-speed inputs 1 (±10 VDC, 16 bit) input, 1 additional (±10 VDC, 12 bit) input with the IO board option; 1 (±10 VDC, 16 bit) output, 1 additional (±10 VDC, 16 bit) output with the IO board option Notes: 1. Output voltage dependent on input voltage. 2. Bus voltages lower than 100 VDC require LB or AuxPwr option. Bus voltages lower than 40 VDC require AuxPwr option. 1 amp solid-state relay standard; 1 amp mechanical relay available with option board Motion Controllers Soloist Series

5 Soloist MP SPECIFICATIONS Soloist Series Motion Controllers Model Amplifier Specifications 1) O utput Voltage Input Voltage Peak Output Current ( DC Units Soloist MP 10 V 10 to 80 VDC VDC A pk 10 Continuous Output Current A 5 PWM Switching Frequency Power Amplifier Bandwidth Minimum Load Inductance Operating Temperature Storage Temperature khz 20 khz mh Selectable Through Software 80 VDC C 0 to 50 C -30 to 85 Logic Power Input VDC; 2 A Max W eight k g (lb) 0.45 (1.0) Controller Specifications Program Language Servo Update Rate Length of Program Operating Modes Move Types Programmable Inputs Programmable Outputs Encoder Input Frequency Clock (Step) Input Dedicated Inputs Memory Digital Inputs and Outputs Analog Inputs and Outputs Brake Relay Notes: 1. Output voltage dependent on input voltage. AeroBASIC 1-20 khz Up to 1 MB Indexer, Clock/Direction, CAM, Gear, Step Up/Step Down Incremental, Absolute, Free-runnin g Eight 5-24 VDC with option board; One 16-bit analog standard (one additional 12-bit with option board) 8 opto inputs 1 (±10 VDC, Eight 5-24 VDC with option board; One 16-bit analog with option board 250 khz amplified sine (for onboard multiplier option board); 40 MHz square wave 1 MHz maximum input frequency, TTL (+5 VDC) Thermistor, Enable, Reset, Estop, DIR, CLK, CW, CCW, Home, Limits, Hall-effect devices 1 MB FLASH memory for user programs and parameters; 8 MB of RAM with the IO board option; 8 opto outputs with the IO board option; Sinking and Sourcing selection is available through the parameters; 5-24 VDC can be used with any IO pins 16 bit) input, 1 additional (±10 VDC, 12 bit) input with the IO board option; 1 (±5 VDC, 16 bit) output with the IO board option 1 amp mechanical relay available with option board

6 Soloist APPLICATIONS Basic Move Point-to-point moves are easy to program with the Soloist. A move distance and velocity can be entered in user units such as inches, millimeters, or degrees. Acceleration time and profile can also be programmed, or you can use default values. Labeling Application register 2), turn the glue gun on and off. This program will lay down a three-inch-long bead at constant velocity. Rotary Knife Motion Controllers Soloist Series When placing labels on products, the product travels to the label machine on a conveyor. The conveyor speeds up, slows down, or even stops. Despite this inconsistency, the labeling mechanism must remain synchronized with the product conveyor. For accurate label placement, use the Soloist as a motion controller because it responds to changes in line speed and quickly initiates corrective motion. The Soloist synchronizes the label motor speed to the conveyor speed, acting like an electronic gearbox based on the master encoder. To accurately place the label, conveyor motion is initiated at a preset distance between products by photocell input. Gluing Application Adding an output-on-the-fly to the previous basic move example application can put down a uniform bead of glue while moving. Using output bit #1 (least significant bit of Use the Soloist for rotary knife applications, including the following: Cut variable length pieces High-speed inputs register mode for cutting Synchronize the cutting blade to motion of the line; accelerate out of cut to move pieces forward Use auxiliary encoder inputs to measure line speed, or receive commands from a second Soloist over Ethernet Operator can manually control line operation and cutting process Lane Sorter The Soloist can be used in package sorting applications by using input(s) from a sensor(s) to determine package type and quickly divert the package to its correct destination. For examples of other applications, please visit the Soloist online community on Aerotech s website ().

7 Soloist CP DIMENSIONS Soloist Series Motion Controllers Soloist CP

8 Soloist CP DIMENSIONS Soloist CP with additional IO Motion Controllers Soloist Series

9 Soloist MP DIMENSIONS Soloist Series Motion Controllers Soloist MP

10 Soloist MP DIMENSIONS Soloist MP with additional IO Motion Controllers Soloist Series

11 Soloist ORDERING INFORMATION Soloist Series Motion Controllers Ordering Example Soloist Hardware Package Example: SOLOIST CP 20-S-MXU SOLOIST MP 10 SOLOIST MP 10-IO Output Current, Peak SOLOIST CP 10, 20, 30 Options -PLUS, -IO, -MXU, -S, -AUXPWR, -BRAKE24-2, -EXTSHUNT SOLOIST MP 10 -PLUS, -IO, -MXU, -AUXENC Ordering Example Soloist Software Software SOLOIST-SOFTWARE Example: SOLOIST-SOFTWARE-HMI-MSC SOLOIST-SOFTWARE-IDE Options -HMI, -IDE, -APPLIB, -LAB, -MSC, -TWO, -SUB Soloist Single-Axis Controller SOLOIST CP 10 SOLOIST CP 20 SOLOIST CP 30-S SOLOIST MP 10 HMI HMI-APPLIB HMI-LAB HMI-APPLIB-LAB IDE IDE-APPLIB IDE-LAB IDE-APPLIB-LAB HMI-MSC HMI-MSC-APPLIB HMI-MSC-LAB HMI-MSC-APPLIB-LAB MSC MSC-APPLIB 10 A peak, 5 A continuous, 115 VAC/230 VAC input digital drive with Ethernet interface; includes 4 digital outputs, 6 digital inputs, one analog output, one analog input, one 24 VDC 1-amp solid-state brake relay 20 A peak, 10 A continuous, 115 VAC/230VAC input digital drive with Ethernet interface; includes 4 digital outputs, 6 digital inputs, one analog output, one analog input, one 24 VDC 1-amp solid-state brake relay 30 A peak, 15 A continuous, 115 VAC/230VAC input digital drive with Ethernet interface; includes 4 digital outputs, 6 digital inputs, one analog output, one analog input, one 24VDC 1-amp solid-state brake relay 10 A peak, 5 A continuous, VDC input digital drive with Ethernet interface; includes 1 analog input Standard Human-Machine Interface for single-axis operation Standard interface included with Soloist and source code for application library Standard interface included with Soloist and LabVIEW VIs with sample interface Standard interface included with Soloist, source code for application library, and LabVIEW VIs with sample interface Integrated Development Environment with advanced software features such as advanced program debugging, fully networked interface, and project structures Integrated Development Environment with advanced software features (such as advanced program debugging, fully networked interface, and project structures) and source code for application library Integrated Development Environment with advanced software features (such as advanced program debugging, fully networked interface, and project structures) and LabVIEW VIs and sample interface Integrated Development Environment with advanced software features (such as advanced program debugging, fully networked interface, and project structures), source code for application library, and LabVIEW VIs and sample interface Allows the user to develop his own interface to connect to multiple Soloists from the same application Allows the user to develop his own interface to connect to multiple Soloists from the same application and includes the AeroBasic library source code for editing Allows the user to develop his own interface to connect to multiple Soloists from the same application and includes the LabVIEW VIs and sample interface Allows the user to develop his own interface to connect to multiple Soloists from the same application and includes the AeroBasic library source code for editing as well as the LabVIEW VIs and sample interface Allows the user developing his own interface to connect to multiple Soloists from the same application Allows the user developing his own interface to connect to multiple Soloists from the same application, and includes the AeroBasic library source code for editing

12 Soloist ORDERING INFORMATION MSC-LAB MSC-APPLIB-LAB TWO SUB Allows the user developing his own interface to connect to multiple Soloists from the same application, and includes the LabVIEW VIs and sample interface Allows the user developing his own interface to connect to multiple Soloists from the same application, and includes the AeroBasic library source code for editing as well as the LabVIEW VIs and sample interface Application library that combines two single-axis Soloists into a two-axis controller (G0) that communicates over Ethernet; Synchronization time is to 20 ms One Year subscription to software for new downloads; Price is 25% of initial software cost or $125 for the HMI Options Soloist CP -PLUS Expanded software functionality axis calibration, PSO, camming, absolute encoder support -IO Expansion board with 16 opto-isolated inputs (sinking or sourcing) and 16 outputs (sinking), one 16-bit analog output, one 16-bit analog input, one 24 VDC 1-amp mechanical relay -MXU x1024 software multiplication after quadrature -S Shunt resistor network for SOLOIST 10, SOLOIST 20 -AUXPWR Auxiliary 115/230VAC input to power logic circuitry; required for keep alive or VDC bus operation; VDC operation requires external transformer to generate VAC bus power input -BRAKE volt power supply for brake; 2A -EXTSHUNT Connectors supplied for external shunt provided by customer Motion Controllers Soloist Series Options Soloist MP -PLUS -IO -MXU -AUXENC Expanded software functionality axis calibration, camming, absolute encoder support Expansion board with 8 opto-isolated inputs (sinking or sourcing), 8 outputs (sinking or sourcing), one 12-bit analog input, one 16-bit analog output, and one 24 VDC 1-amp mechanical relay; only valid on Soloist MP Programmable encoder multiplier up to x1024; no real-time output IO auxiliary encoder input Accessories ENET-XOVER m (3 ft) Ethernet cross-over cable ENET-XOVER m (5 ft) Ethernet cross-over cable ENET-XOVER-30 3 m (9.8 ft) Ethernet cross-over cable ENET-XOVER m (14.7 ft) Ethernet cross-over cable ENET-XOVER m (24.6 ft) Ethernet cross-over cable USB-AMBM m (3 ft) USB cable A-male to B-male USB-AMBM m (10 ft) USB cable A-male to B-male USB-AMBM m (15 ft) USB cable A-male to B-male HT Handheld terminal JOY Joystick with 5 ft (1.5 m) cable JI Industrial joystick with 1.5 m (5 ft) cable C Joystick extension cable, flying leads, 3 m (10 ft); requires IO option if used on the SOLOIST MP 10 HWA32-26HD-50 Soloist CP/Soloist MP handwheel with 5 meter cable and 26-pin high-density connector HWA32-26HD-30 Soloist CP/Soloist MP handwheel with 3 meter cable and 26-pin high-density connector HWA32-FLY-30 Soloist CP/Soloist MP handwheel with 3 meter cable and flying leads C Soloist MP Micro 9-pin D connector to standard 9-pin D connector; connects to J201 for auxiliary encoder input C Soloist MP Micro 9-pin D connector to standard 25-pin D style connector; connects to J201 for auxiliary encoder input ECZ01343 Soloist MP Micro 9-pin D connector to flying leads; connects to J201 for auxiliary encoder input