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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
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