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 Making Smart Machines Smarter HMI Visualization Multi-Platform Operating System

3 ANY MOTION with Elmo s Maestro Family Gold Maestro P-MAS I/O Platinum Maestro P-Lion P-BLM P-MAS Board-level (embedded)

4 User Flash Memory Device Support Main Dual Core (2 1.5 GHz processor system USB Device connectivity (480 Mbps)- to allow Host computers work over USB bus Platinum at a glance Additional Dual DSP Cores for specific RT algorithms (Readiness for Image Processing) Hardware video support for HMI Panels (HDMI connectivity) 1 GHZ Ethernet USB 3 Host connectivity (5 Gbps). For fast device access (i.e external cameras) Unlimited Memory: DRAM DDR3, 4GB. Flash 4GB

5 Platinum Maestro Key Features ADVACNCED MULTI AXIS CONTROL MACHINE CONTROLLER SMART & SIMPLE IMPLEMENTATION EFFICIENT NETWORKING with ADVANCED ETHERCAT SUPPORT UNPARALLELED PROCESSING POWER & MEMORY Programming/Connectivity Flexibility Dedicated core for Real-Time processing and user program Unlimited Memory : 4GB DRAM / 4GB Flash G-CODE

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

7 Platinum Maestro Multi Axis Control Supporting PLCopen Group Motion, Blending, and Transition Multi-Axis coordinated group motion in full accordance with PLCopen Transitions, and blended motion

kinematics, the road to implementation is

Essential transformations supported Delta

firmware standard feature no time wasted on

8 Platinum Maestro Multi Axis Control Kinematics For those with standard robot kinematics, the road to implementation is even shorter. Essential transformations supported Delta SCARA Cartesian X-Y-Z Hexapod Built-in to firmware standard feature no time wasted on complex equations Allows manufacturers to focus on their application Robotics in Motion 8

9 Platinum Maestro Multi Axis Control Built in Kinematics ACS Axis coordinate system MCS Machine coordinate system PCS Part coordinate system

Platinum Maestro Multi Axis Control Profiler

Multi Axis A dedicated screen in EAS gives

10 Platinum Maestro Multi Axis Control Profiler Simulator Users can plan and simulate motions from a.net library interface Available for Single and Multi Axis A dedicated screen in EAS gives abilities to plan, run and migrate code to script manager. Time Saver Motion Prediction Immediate Results

scheduling, to achieve optimal control algorithms for

11 Intelligent Motion Automatic Multi Dimensional Tuning Intelligently performs automatic 3D tuning and gain scheduling, to achieve optimal control algorithms for multi axis robots, with a click of a button Robotics in Motion 11

Platinum Maestro Best-in-Class Multi Axis Control Application Fast & Accurate Corner Control Advanced Dispensing Triggering Efficient EtherCAT Networking Precise Gantry Control

Highly Synchronized Multi-Axis Control Simple Simulation & Implementation High accuracy around corners without compromising on speed, with effective servo control and innovative

12 Platinum Maestro Best-in-Class Multi Axis Control Application Fast & Accurate Corner Control Advanced Dispensing Triggering Efficient EtherCAT Networking Precise Gantry Control Dispensing machine throughput (and quality) is determined primarily by the speed and accuracy around corners. Highly Synchronized Multi-Axis Control Simple Simulation & Implementation High accuracy around corners without compromising on speed, with effective servo control and innovative motion algorithms Polynomial Corner Blending Jerk & Acceleration Control Position based Gain Scheduling Dispensing machines may need to synchronize 7 or more axes for precise, short, and quick motions PCS/MCS Kinematics 250us EtherCAT cycling PLCopen Group Motion

13 Platinum Maestro Key Features ADVACNCED MULTI AXIS CONTROL MACHINE CONTROLLER SMART & SIMPLE MOTION IMPLEMENTATION EFFICIENT NETWORKING with ADVANCED ETHERCAT SUPPORT UNPARALLELED PROCESSING POWER & MEMORY Programming/Connectivity Flexibility Dedicated core for Real-Time processing and user program Unlimited Memory : 4GB DRAM / 4GB Flash G-CODE

Platinum Maestro Machine Controller PLCopen IEC 61131-3 One of the core activities of PLCopen is focused around IEC 61131-3, the only global standard for industrial

14 Platinum Maestro Machine Controller PLCopen IEC 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) Robotics in Motion 14

15 Platinum Maestro Machine Controller PLCopen IEC Where is IEC programmed?

Platinum Maestro Machine Controller Enhanced Visualization

remote/target HMI screens simply and intuitively Operators want

graphic way Development of high level HMI Screens directly in

motion variables Target device (HMI) or Remote Visualization

16 Platinum Maestro Machine Controller Enhanced Visualization Tools Allow manufactures to create fully functioning remote/target HMI screens simply and intuitively Operators want to monitor robot and component operation in a simple and graphic way Development of high level HMI Screens directly in the IEC IDE, with direct access to all application and motion variables Target device (HMI) or Remote Visualization (web browser HTML5) Operation is straightforward and easy to use Robotics in Motion 16

Platinum Maestro Machine Controller Maestro Level I/O Extended I/O interfaces Allows easy access to: o Gyro/Accelerometers Interface Support o

17 Platinum Maestro Machine Controller Maestro Level I/O Extended I/O interfaces Allows easy access to: o Gyro/Accelerometers Interface Support o Digital and Analog IO Support o Absolute Encoders o Encoders o Serial Interfaces : RS-232 / RS-422 / RS-485 o All types of Serial IMU support.

18 Platinum Maestro Machine Controller Maestro Level I/O 12xDigital Inputs 10xDifferential IO (Quad Encoders, Absolute Encoders, Diff IO, Communication) 8xDigital Outputs HDMI SD Card Analog IO (4xInputs, 4xOutputs) USB Device Ethernet 1 GHz USB host Ethercat Master Ethercat Slave

19 Platinum Maestro Machine Controller Maestro Level I/O (application example) Dual Independent PWM Emulation for Laser Systems. Used for adjusting laser intensity based on multi axis (vector) speed PWM CHANGE SPEED (unit of speed is mm/sec)

20 Platinum Maestro Machine Controller Maestro Level I/O (application example) Motion Smoothness Protection System (for non-linearity) Intelligent solution for real-time dampening of non-linearity P-Lion with I/O support for analog input Advanced ECAM support using virtual axis Simple 2 week implementation of complex system

21 Platinum Maestro Key Features ADVACNCED MULTI AXIS CONTROL MACHINE CONTROLLER SMART & SIMPLE MOTION IMPLEMENTATION EFFICIENT NETWORKING with ADVANCED ETHERCAT SUPPORT UNPARALLELED PROCESSING POWER & MEMORY Programming/Connectivity Flexibility Dedicated core for Real-Time processing and user program Unlimited Memory : 4GB DRAM / 4GB Flash G-CODE

22 Platinum Maestro Smart & Simple Motion Implementation Automatic & Intuitive Motion tools in EASII o PVT, ECAM, Move & Settle, 1D/2D/3D Error Correction, PVT/Spline Table Editor 3 Dimensional Recorder ECAM Table Editor Maestro Group Motion Tool Error Mapping Tool Maestro Group Kinematic Editor

Platinum Maestro Smart & Simple Motion Implementation Software in the Loop

Complex models, profiles, kinematics and more are commonly programmed in a

Special infrastructure within Elmo controllers allow for integration of

(for example) customers can program their own unique kinematics, not needing

23 Platinum Maestro Smart & Simple Motion Implementation Software in the Loop (SIL) A huge milestone for robotic manufacturers. Complex models, profiles, kinematics and more are commonly programmed in a MATLAB/SIMULINK environment. Special infrastructure within Elmo controllers allow for integration of MATLAB code within the real time code of the robot Why does it matter? (for example) customers can program their own unique kinematics, not needing drive manufacturer to pre-embed into the firmware, which may be raveling to their IP Automatic code conversions huge time saving keep your motion IP Robotics in Motion 23

24 Platinum Maestro Smart & Simple Motion Implementation Software in the Loop (SIL) ousing SIL, users can write their own Kinematics. ousing SIL, users can write their own Controllers.

Programming Figure 5: Smart & Simple Multi Axis Homing with EMBL Figure 6: Same Multi-Axis Homing without

25 Platinum Maestro Smart & Simple Motion Implementation Elmo Motion Block Library (EMBL) o Smart Motion Blocks o Elmo s EMBL s Elmo Motion Block Library o Hundreds of Easy-To-Use functionalities o Motion Without Programming Figure 5: Smart & Simple Multi Axis Homing with EMBL Figure 6: Same Multi-Axis Homing without EMBL Simple parameter input and multi-axis homing is ready to go! EMBL for Multi-Axis Homing List of EMBL function blocks

26 Platinum Maestro Key Features ADVACNCED MULTI AXIS CONTROL MACHINE CONTROLLER SMART & SIMPLE MOTION IMPLEMENTATION EFFICIENT NETWORKING with ADVANCED ETHERCAT SUPPORT UNPARALLELED PROCESSING POWER & MEMORY Programming/Connectivity Flexibility Dedicated core for Real-Time processing and user program Unlimited Memory : 4GB DRAM / 4GB Flash G-CODE

Platinum Drive) oup to 32 axes: @ 250µs (With Gold Drive) oup

27 Platinum Maestro Efficient Networking 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 Automatic EtherCAT configurator

28 Platinum Maestro Efficient Networking 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)

29 Platinum Maestro Efficient Networking Advanced Network Diagnostics Tools o Advanced Network Health Diagnostics o Network Health Policies Management o FULL 3rd party IO and Drive Support (100 s of different IO s tested at ETG and Elmo)

30 Platinum Maestro Efficient Networking Files over EtherCAT (FoE) The capability of download FW or files to drives from master using existing fieldbus

31 Platinum Maestro Efficient Networking Network Redundancy (ring topology) 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

32 Platinum Maestro Efficient Networking Network Redundancy (ring topology)

33 Platinum Maestro Key Features ADVACNCED MULTI AXIS CONTROL MACHINE CONTROLLER SMART & SIMPLE MOTION IMPLEMENTATION EFFICIENT NETWORKING with ADVANCED ETHERCAT SUPPORT UNPARALLELED PROCESSING POWER & MEMORY Programming/Connectivity Flexibility Dedicated core for Real-Time processing and user program Unlimited Memory : 4GB DRAM / 4GB Flash G-CODE

34 Thank you! The Ultimate Machine Motion Controller

Platinum Maestro Multi Axis Control. The Ultimate Machine Motion Controller

Platinum Maestro Multi Axis Control The Ultimate Machine Motion Controller Platinum Maestro TRUE MACHINE MOTION CONTROL SMART & SIMPLE MOTION IMPLEMENTATION BEST IN CLASS MULTI AXIS CONTROL / Advanced