motion controller for any application | elmomc

The Solution For ANY Application

ANY Motion

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Motion Control For ANY Multi Axis Scenario

The Gold Maestro is the Ultimate Demonstration of Elmo’s

“Smart, Small and Simple”

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Motion Control For ANY Multi Axis Scenario

Elmo’s Gold Maestro is an advanced, network-based, multi-axis machine motion controller.

The Gold Maestro can control any multi-axis scenario. From simple “Point-to-Point” to complete multi-axis coordinated / synchronized motion control.

By operating in conjunction with Elmo’s Veteran SimplIQ or Gold Servo Drives, it offers the most advanced multi-axis network controller.

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Motion Control For ANY Multi Axis Scenario

The Gold Maestro features:

By the book, PLCopen Single and Multi-Axis motion control

Designed to standards for simple and effective integration into your machine

Ability to synchronize up to 16 axes, at Axis level and at Machine Level

Advanced user programming capabilities based on recognized standards (C, C++, .NET, IEC-61131-3)

Complete application support by ready-to-use scripts, motion blocks, programs, templates, user functions.

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Motion Control For ANY Multi Axis Scenario

A major advantage of the Gold Maestro is the flexibility in allowing axes to run in the following modes:

Numerical Control – Motion Profile that is calculated in the

Gold Maestro

Distributed – Motion Profile that is calculated in drive, thus

obtaining distributed intelligence

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Motion Control For ANY Multi Axis Application

Standards

PLCopen programming interface to the G-MAS.

DS402 motion protocols to the drives Homing

Profile Position

Interpolated / Cyclic Position

Cyclic Torque

Cyclic Velocity

DS401 to IO modules

Host Field busses to 3rd party devices Modbus

Ethernet/IP

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Designed based on the standards of DS402:

On Limits

On Home

On Index

On Block

Any Motion – Single Axis

MOVING

PART

LimitSwitchNeg LimitSwitchPos

MOVING

PART

On Off Off On

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Single Axis Motion

Simple Point to Point and Jog motion. Huge Motion Buffers are supported.

Motions can be buffered by using one

of the many supported G-MAS Motion Buffering modes:

Buffered – Motion Function block will start once the previous motion ended. Blending – Velocity of inserted motion block will blend with the previous function block. Abort – All ongoing motion blocks will be aborted.

Any Motion – Single Axis

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Any Motion – Single Axis

On The Fly Position to Torque switching:

Fast and smooth transition to Torque control with Torque ramp

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Any Motion – Single Axis

Superimposed Motion :

The G-MAS fully supports superimposing a motion - the ability to impose an additional profiler on top of an ongoing motion in real time

Velocity

Position

Imposed Motion

5000 60000

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Any Motion – Single Axis

Programmable “In Target” criteria:

Precise Motion and Settling time (within programmable radiuses and time) can be obtained for factory ATP purposes

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Any Motion – Multi Axis

Multi Axis Coordinated Motion

Group Motion can be fully coordinated and synchronized when using the G-MAS.

Each individual axis that is part of a Group Motion shall start together and finish together with other group members

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Any Motion – Multi Axis

Linear Motion Function Blocks

Y

Xx1 x2

y1

y2

Start Point = (x1, y1)

End Point = (x2, y2)

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Any Motion – Multi Axis

Circular Motion Function Blocks

Y

Xx1 x2

y2

y1

Start Point = (x1, y1)

Center Point = (x2, y2)

x3

y3R

End Point = (x3, y3)

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Any Motion – Multi Axis

Polynomial Motion Function Blocks

The G-MAS profiler builds a smooth polynomial shape segments in 2D and 3D space that is defined by these three crossing points:

Y

Xx1 x2

y2

y1

Start Point = (x1, y1)

Auxiliary Point = (x2, y2)

x3

y3

End Point = (x3, y3)

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Any Motion – Multi Axis

Spline and PVT Table related Motion Function Blocks

Points are know in advance, and are interpolated

by the G-MAS.

Several table and motion modes

Y

X

X Y

X0 Y0

X1 Y1

X2 Y2

. . . . . . . . . . . . Xn Yn

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Any Motion – Multi Axis

ECAM Table Motion Function Blocks

The slave axes are synchronized to the master’s position according to a predefined table.

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Any Motion – Multi Axis

Motion Blending

The G-MAS enables the blending of a path between any two consecutive motion segments.

The blending defines the velocity at the transition point.

Y

Xx1 x2

y1

y2

Start Point = (x1, y1)

Connection Point = (x2, y2)

x3

y3

End Point = (x3, y3)

Y

Xx1 x2

y1

y2

Start Point = (x1, y1)

Connection Point = (x2, y2)

x3

y3

End Point = (x3, y3)

Before Transition After Transition

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Any Motion – Multi Axis

Motion Blending Modes

Different Blending modes are supported:

Blending with low velocity

Blending with high velocity

Blending with velocity of previous segment

Blending with velocity of next segment

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Any Motion – Multi Axis

Motion Transitions:

The GMAS provides complex transition modes for 2D and 3D kinematics

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2D Blended Motion

Example :

2D blended motion with transition curves

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Any Motion – Multi Axis

G-MAS Kinematics

The G-MAS supports several Kinematic Transformations:

PCS – MCS transformation

MCS – ACS transformation

Cartesian Machine systems

Delta Robot Machine systems

Linear transformation of the ACS

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Z

Y

X

Z’

Y’

X’

MCS – Machine Coordinate System

PCS – Product Coordinate System

PCS – MCS transformation – Product Coordinate System to Machine Coordinate System

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MCS – ACS Transformation – Machine Coordinate System to Axis Coordinate System

Cartesian Machine System:

Z

Y

X

MCS – Machine Coordinate System

X

Y

Z

ACS – Axis Coordinate System

Delta Robot Machine System:

θ1θ2

θ3 θ1

θ2

θ3

ACS – Axis Coordinate System

MCS – Machine Coordinate System

(Xo ,Yo, Zo)

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Linear transformation of the ACS – Axis Coordinate System

Position

timet1 t2 t3

p3

p2

p1

Position

timet1 t2 t3

p3·AY(x) = A·x+B

B

p1·A

p2·A

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Any Motion – Multi Axis

Delta Robot After defining the Delta Robot Kinematics and measurements, running the Delta Robot is a simple task. All Coordinated motions function blocks are available (Linear, Circular, Polynomial, PVT, Splines).

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Any Motion

Huge Motion And Administrative Buffers.

The G-MAS supports up to 1000 function block depth.

Using the administrative Function Block mechanism, a user can precisely change motion parameters, IOs and maximum torque Between Motion Blocks

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Any Motion

1D, 2D and 3D Error Correction Support

The G-MAS supports the ability to Correct non-linear mechanical position errors on a multi-axis system.

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Any Motion

2D Error Correction - Example A Nano metric system before and after Error Correction.

Units are in microns

Before: After:

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Any Motion

For a full list of features and capabilities visit:

http://www.elmomc.com/capabilities/elmo-capabilities-main.htm