gold maestro multi-axis motion controller-brochure documents/elmo/goldmaestro.bro.pdf · our best...
TRANSCRIPT
Elmo's LineGoldOur Best Ever Motion Solutions
GoldThe Ultimate Solution for Motion Control Networking
Top Level Multi-Axis Machine Motion Controller
The Maestro
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For more information on Elmo:
Head Office Elmo Motion Control Ltd.64 Gisin St., P.O. Box 463Petach Tikva 49103IsraelTel: +972 (3) 929-2300Fax: +972 (3) [email protected]
North AmericaElmo Motion Control Inc.42 Technology Way, NashuaNH 03060USATel: +1 (603) 821-9979Fax: +1 (603) [email protected]
EuropeElmo Motion Control GmbHSteinkirchring 1D-78056,Villingen-SchwenningenGermanyTel: +49 (0) 7720-85 77 60Fax: +49 (0) 7720-85 77 [email protected]
Asia Elmo Motion Control Asia APAC#807, Kofomo Building, 16-3Sunae-dong, Bundang-gu, Sungnam-si, Kyunggido,South KoreaTel : +82-31-698-2010Fax : [email protected]
www.elmomc.com Motion Control Solutions Made Small, Smart & Simple
rev-
2 0
1-07
-201
0
or or
PC HMI Panel PLC
Elmo'sApplication
Studio(EAS) Ethernet
(TCP/IP, Ethernet/IP,Modbus, Telnet, FTP, DHCP)
Elmo's Gold MaestroMulti-Axis Network
ControllerUp to 100 Axes
REV
-0
Elmo's Gold DriveModules
(Integrated Solutions)
Elmo's Gold Network I/O Controller
Elmo's Gold Drive Integrated
Solutions
NetworkEncoder
The Gold Distributed NetworkElmo's Motion Control System Solutions
GoldDC Whistle
Gold Solo Whistle
Gold Solo Guitar
Gold Solo Trombone
Gold DC Trombone
Gold Whistle
Gold Trombone
inside
Gold Guitar inside
Gold Whistle inside
Gold Duo
Offering You Comprehensive SolutionsElmo's Gold Maestro is a network-based, multi-axis machine motion controller that operates in conjunction with Elmo’s classic SimplIQ servo drives, as well as the new Gold Line of intelligent servo drives, to provide a comprehensive and efficient motion control solution for the entire system.
The Superior Machine Motion ControllerThe Gold Maestro is based on the most advanced, easy to use and cost effective distributed motion control architecture which enables the motion processing tasks to be shared. It contains a rich feature set that combines sophisticated motion control and advanced communications with full programming capabilities. The Gold Maestro uses standard protocols over its various communications channels (Ethernet, EtherCAT, CAN and USB), combined with IEC and C programming, and the PLCopen motion interface.
Gold Maestro Highlights• Top level multi-axis motion controller• Upper level (host) communications and protocols:• Ethernet,TCP/IP,UDP(FastBinaryProtocols,Modbus,Ethernet/
IP, Telnet, FTP, HTTP)• USB2.0• EtherCAT master for distributed networking, with redundancy capabilities and distributed clock management support• CANopen master distributed networking.• Controls up to 100 axes simultaneously.• Distributed intelligence: tasks are split between the Gold MaestroandtheSimplIQand/orGoldLineofservodrives:• Significantincreaseinthemotionsystem’scomputationpowerand
performance • Simplerhigh-levelmotioncontrolinterfaces,usingthePLCopen
standard• Fasterandbettermotorcontrol,improvedeventresponsetimes• Releases theGoldMaestro’s resources for themachine’s
synchronized motion control• Reducesthecommunicationload• The protocol implementation allows nodes to be easily added, removed and modified.• CANopen communication protocols: DS 301, DS 305, DS 401(I/ODeviceProfile),DS402• Rich,high-level,multi-axisprogrammingenvironmentwitha large amount of memory:• Native'C'programmingusingthePLCopenforMotionAPI• IEC61131-3,PLCopen• Ready-for-useapplicationprogramtemplatesforcommon automation applications.• Advanced data recording and "live scope" features, for single and multiple axes• Network statistics for diagnostics
GoldThe Maestro The Ultimate Solution for Motion Control NetworkingTop Level Multi-Axis Machine Motion Controller
Stand-alone Panel Mount Ready-to-useindustrialsolutionwithaDCpowersupplyand DC Power supply, communication cables, the Gold Maestro is ready to control your system.
EmbeddedElmo uniquely provides an option to use the Gold Maestro core for embedded applications. This ensures minimal space/weightandtightintegration.TheEmbeddedGoldMaestro is provided with support and guidelines for integration onto the application’s board.
Stand-alone Board LevelFor space saving applications, the Gold Maestro can be supplied without its enclosure and metal base. Power and communication cables are all that are needed to start working.
Gold Maestro Hardware Options
Distributed Motion Control ArchitectureThe Gold Maestro's distributed motion control architecture lends itself to an intelligent and modular design of the overall motion control system, enabling optimal selection of the drive for each axis. When coupled with Elmo's family of SimplIQ and Gold Line Network drives, the implementation of the overall motion system is extremely efficient.
Intelligence at the Axis LevelThe intelligent servo drives execute the highly demanding local position, velocity, current and vector real-time controlalgorithms,andtheyalsohandlethelocalaxisandI/Osequencesusingthedrive'sprogrammingcapabilities. Together with a wide variety of special functions and features, Elmo’s drives have very high axis level performance.
State-of-the-Art Solutions for Your Machinery NeedsThe Gold Maestro is a state-of-the-art, multi-axis motion controller. Its role is to supervise and synchronize theoperationoftheoverallmachineaxesandI/Os.UsingIEC-61131-3orCprogramming,aswellasacomplete ready-to-use API for PLCopen functions, EtherCAT (or CANopen) master functionality and a wide variety of program templates for common applications, the user can easily create programs for machine control and NC axes synchronization. With up to 100 axes in the system and up to 16 axes in synchronized motion with a cycle time as low as 500 µs and 1 µs accuracy of the overall system distributed clock, the Gold Maestro meets the needs of your application.
Standard Communication ProtocolsThe Gold Maestro is equipped with Ethernet and USB communication channels to communicate with the host computer, PLC or HMI, and supports standard communication protocols such as Modbus, Telnet, FTPandEthernet/IP.
Gold Maestro FunctionalityOperating System• Linux,withElmo’sRTextensionforreal-timemotion control support
Number of Axes• Up to 100 axes, allowing the following types of motion: mixed single axis, multiple axes and coordinated axes.
Axis Types• Intelligent servo drives (Elmo) support both the SimplIQ and Gold Line product families.• Operates in Numeric Control (NC, real-time master synchronization) and non-NC modes.• Standard DS 402 drives for CANopen, and DS 402 CoE for EtherCAT.
Control System Update Rate and Jitter• EtherCAT •CycleUpdateRate:500µs(upto16axescanbe updated simultaneously at a rate of 500 µs). •DriveCycleClockJitter:<1µs,basedonMaster Distributed Clock support, for the full network.• CAN •CycleUpdateRate:1ms(CANphysicalnetwork limitations only) •CycleJitter:<10µsforCANSyncmessageinitiation (actual jitter dependent on the CAN network’s physical limitations).
Supported Motion Modes and Interfaces• The Gold Maestro motion interfaces use the PLCopen standard.• 64 bit, real-time, double precision profile calculations, allowing full on-the-fly control over speed, acceleration, deceleration and jerk.• Complex motion schemes, including look-ahead optimizing of trajectory speed calculations for complex vector motions.• Memory for 1,000 function blocks (a buffer for 1,000 motion segments). Beyond this the buffer is cyclic, so there is no practical limit on the buffer size.
Motion Programming and Debugging• Native ‘C’ Programming, running on target. Compiling and debugging. Supplied with the PLCopen Motion Library API.• IEC 61131-3 with the PLCopen Motion Library extension using Elmo’s IDE. The following languages are supported: •Structuredtext(ST):textual •Functionblockdiagram(FBD):graphical •Ladderdiagram(LD):graphical •Sequentialfunctionchart(SFC)haselementsto organize programs for sequential and parallel control processing
Programming Execution Time, Threads, and I/O Layer Synchronization• Minimal thread resolution timing: 1 ms•Number of program execution threads: 10• Typical programming execution time (IEC): 10 µs per command.• 'C'codeprogramming:Runningasnativecodeonthe target CPU.• I/Olayersynchronizationtiminglinkedtothemaster controllersynctime(EtherCAT/CAN).I/Olevel synchronization deterministic over control cycles.
Communications Hardware• Host •Ethernet:1port,StandardEthernet,10/100Mbps, automatically detected. •USB:1port,USB2.0,12Mbps. •RS232canbesupportedinanembedded configuration.• Device Networks •EtherCAT:2xEtherCATmasterports,withredundancy support. •CAN:CANopenmasterport.
Communications Protocols• Host •Ethernet,TCP-IP/UDPforoperationalmodes. •Telnet/FTP/HTTPcommunicationforsetupand configuration. •USB:Usingbinaryprotocol(maintenance). •Applicationlevel:Ethernet-IP/Modbus.• Device Network •EtherCAT:CoE/EoE/FoE,supportsdistributedclock master. •CAN:CANopendeviceprofiles,e.g.DS301,DS305, DS401(I/ODeviceProfile),DS402.
Host and Internal Software Interface• TCP/IPandUDPinterfacefromthehostcomputer.A softwarelibraryprovidesaconvenientTCP/IPorUDP communications interface.• FutureversionswillsupportEthernet/IPandModbus overTCP/IP.• Internal software libraries, for ‘C’ user programs are provided, to write user code running on the Gold Maestro’s target processor (native mode).
Miscellaneous and Special Features• DataRecording •4MBdatarecording. •Upto32vectorscanberecordedsimultaneously. •Supportsadvancedtriggeringoptions and real-time scope capabilities. •VeryfastdatauploadusingEthernet.• Upload/DownloadSupport •Firmwareupdatesupport(GoldMaestroanddrives) •Systemresourcefiles •Axisparameterfiles• Drive Communication Bridge Support •TheGoldMaestrosupportsfullcommunicationwith any specific drive (CAN and EtherCAT), for the purpose of simple tuning or configuration at the drive level. I.e., there is no need for direct communication with the drive.• Spatial Position-Based Pulse Generation •TheGoldMaestrosupportsspatial(alongthepath) position-based pulse generation. This is a unique feature, required for the generation of position-based events in 3D scanning systems. •TheGoldMaestrosystem,withElmo’sintelligent Gold Servo Drives, can support single axis and spatial enhanced position-based “compare” functions, resulting in trigger output signals accurate to 1 encoder count along the trajectory path.• Network Encoders: Supports master based motion on network encoders• Position Error Mapping: Supports 1D and 2D position based error mapping compensation.• SystemBoot-upTime:<30sec• Internal System BIT: The Gold Maestro system supports internal hardware BIT (Built-in-tests) procedures to ensure system integrity on each power up.
I/Os• TheGoldMaestroisafullynetworkedcontroller.AllI/O interfaces are carried out via the device network
Processor and Memory• CPU: PowerPC 333 MHz, with double precision floating point supported by hardware.• Flash: 32 MB• RAM:64MBDDR2333MHz
Catalog NumberGold-Maestro01: 13 ~ 96 VDC Gold-Maestro02: 20 ~ 196 VDC
115 mm(4.5")
25.4 mm(1")
75 mm(3")
51.9 x 40.6 x 18.1mm(2.04" x 1.6" x 0.7")
97.3 x 67.3 x 20.15 mm(3.8" x 2.6" x 0.8")
Offering You Comprehensive SolutionsElmo's Gold Maestro is a network-based, multi-axis machine motion controller that operates in conjunction with Elmo’s classic SimplIQ servo drives, as well as the new Gold Line of intelligent servo drives, to provide a comprehensive and efficient motion control solution for the entire system.
The Superior Machine Motion ControllerThe Gold Maestro is based on the most advanced, easy to use and cost effective distributed motion control architecture which enables the motion processing tasks to be shared. It contains a rich feature set that combines sophisticated motion control and advanced communications with full programming capabilities. The Gold Maestro uses standard protocols over its various communications channels (Ethernet, EtherCAT, CAN and USB), combined with IEC and C programming, and the PLCopen motion interface.
Gold Maestro Highlights• Top level multi-axis motion controller• Upper level (host) communications and protocols:• Ethernet,TCP/IP,UDP(FastBinaryProtocols,Modbus,Ethernet/
IP, Telnet, FTP, HTTP)• USB2.0• EtherCAT master for distributed networking, with redundancy capabilities and distributed clock management support• CANopen master distributed networking.• Controls up to 100 axes simultaneously.• Distributed intelligence: tasks are split between the Gold MaestroandtheSimplIQand/orGoldLineofservodrives:• Significantincreaseinthemotionsystem’scomputationpowerand
performance • Simplerhigh-levelmotioncontrolinterfaces,usingthePLCopen
standard• Fasterandbettermotorcontrol,improvedeventresponsetimes• Releases theGoldMaestro’s resources for themachine’s
synchronized motion control• Reducesthecommunicationload• The protocol implementation allows nodes to be easily added, removed and modified.• CANopen communication protocols: DS 301, DS 305, DS 401(I/ODeviceProfile),DS402• Rich,high-level,multi-axisprogrammingenvironmentwitha large amount of memory:• Native'C'programmingusingthePLCopenforMotionAPI• IEC61131-3,PLCopen• Ready-for-useapplicationprogramtemplatesforcommon automation applications.• Advanced data recording and "live scope" features, for single and multiple axes• Network statistics for diagnostics
GoldThe Maestro The Ultimate Solution for Motion Control NetworkingTop Level Multi-Axis Machine Motion Controller
Stand-alone Panel Mount Ready-to-useindustrialsolutionwithaDCpowersupplyand DC Power supply, communication cables, the Gold Maestro is ready to control your system.
EmbeddedElmo uniquely provides an option to use the Gold Maestro core for embedded applications. This ensures minimal space/weightandtightintegration.TheEmbeddedGoldMaestro is provided with support and guidelines for integration onto the application’s board.
Stand-alone Board LevelFor space saving applications, the Gold Maestro can be supplied without its enclosure and metal base. Power and communication cables are all that are needed to start working.
Gold Maestro Hardware Options
Distributed Motion Control ArchitectureThe Gold Maestro's distributed motion control architecture lends itself to an intelligent and modular design of the overall motion control system, enabling optimal selection of the drive for each axis. When coupled with Elmo's family of SimplIQ and Gold Line Network drives, the implementation of the overall motion system is extremely efficient.
Intelligence at the Axis LevelThe intelligent servo drives execute the highly demanding local position, velocity, current and vector real-time controlalgorithms,andtheyalsohandlethelocalaxisandI/Osequencesusingthedrive'sprogrammingcapabilities. Together with a wide variety of special functions and features, Elmo’s drives have very high axis level performance.
State-of-the-Art Solutions for Your Machinery NeedsThe Gold Maestro is a state-of-the-art, multi-axis motion controller. Its role is to supervise and synchronize theoperationoftheoverallmachineaxesandI/Os.UsingIEC-61131-3orCprogramming,aswellasacomplete ready-to-use API for PLCopen functions, EtherCAT (or CANopen) master functionality and a wide variety of program templates for common applications, the user can easily create programs for machine control and NC axes synchronization. With up to 100 axes in the system and up to 16 axes in synchronized motion with a cycle time as low as 500 µs and 1 µs accuracy of the overall system distributed clock, the Gold Maestro meets the needs of your application.
Standard Communication ProtocolsThe Gold Maestro is equipped with Ethernet and USB communication channels to communicate with the host computer, PLC or HMI, and supports standard communication protocols such as Modbus, Telnet, FTPandEthernet/IP.
Gold Maestro FunctionalityOperating System• Linux,withElmo’sRTextensionforreal-timemotion control support
Number of Axes• Up to 100 axes, allowing the following types of motion: mixed single axis, multiple axes and coordinated axes.
Axis Types• Intelligent servo drives (Elmo) support both the SimplIQ and Gold Line product families.• Operates in Numeric Control (NC, real-time master synchronization) and non-NC modes.• Standard DS 402 drives for CANopen, and DS 402 CoE for EtherCAT.
Control System Update Rate and Jitter• EtherCAT •CycleUpdateRate:500µs(upto16axescanbe updated simultaneously at a rate of 500 µs). •DriveCycleClockJitter:<1µs,basedonMaster Distributed Clock support, for the full network.• CAN •CycleUpdateRate:1ms(CANphysicalnetwork limitations only) •CycleJitter:<10µsforCANSyncmessageinitiation (actual jitter dependent on the CAN network’s physical limitations).
Supported Motion Modes and Interfaces• The Gold Maestro motion interfaces use the PLCopen standard.• 64 bit, real-time, double precision profile calculations, allowing full on-the-fly control over speed, acceleration, deceleration and jerk.• Complex motion schemes, including look-ahead optimizing of trajectory speed calculations for complex vector motions.• Memory for 1,000 function blocks (a buffer for 1,000 motion segments). Beyond this the buffer is cyclic, so there is no practical limit on the buffer size.
Motion Programming and Debugging• Native ‘C’ Programming, running on target. Compiling and debugging. Supplied with the PLCopen Motion Library API.• IEC 61131-3 with the PLCopen Motion Library extension using Elmo’s IDE. The following languages are supported: •Structuredtext(ST):textual •Functionblockdiagram(FBD):graphical •Ladderdiagram(LD):graphical •Sequentialfunctionchart(SFC)haselementsto organize programs for sequential and parallel control processing
Programming Execution Time, Threads, and I/O Layer Synchronization• Minimal thread resolution timing: 1 ms•Number of program execution threads: 10• Typical programming execution time (IEC): 10 µs per command.• 'C'codeprogramming:Runningasnativecodeonthe target CPU.• I/Olayersynchronizationtiminglinkedtothemaster controllersynctime(EtherCAT/CAN).I/Olevel synchronization deterministic over control cycles.
Communications Hardware• Host •Ethernet:1port,StandardEthernet,10/100Mbps, automatically detected. •USB:1port,USB2.0,12Mbps. •RS232canbesupportedinanembedded configuration.• Device Networks •EtherCAT:2xEtherCATmasterports,withredundancy support. •CAN:CANopenmasterport.
Communications Protocols• Host •Ethernet,TCP-IP/UDPforoperationalmodes. •Telnet/FTP/HTTPcommunicationforsetupand configuration. •USB:Usingbinaryprotocol(maintenance). •Applicationlevel:Ethernet-IP/Modbus.• Device Network •EtherCAT:CoE/EoE/FoE,supportsdistributedclock master. •CAN:CANopendeviceprofiles,e.g.DS301,DS305, DS401(I/ODeviceProfile),DS402.
Host and Internal Software Interface• TCP/IPandUDPinterfacefromthehostcomputer.A softwarelibraryprovidesaconvenientTCP/IPorUDP communications interface.• FutureversionswillsupportEthernet/IPandModbus overTCP/IP.• Internal software libraries, for ‘C’ user programs are provided, to write user code running on the Gold Maestro’s target processor (native mode).
Miscellaneous and Special Features• DataRecording •4MBdatarecording. •Upto32vectorscanberecordedsimultaneously. •Supportsadvancedtriggeringoptions and real-time scope capabilities. •VeryfastdatauploadusingEthernet.• Upload/DownloadSupport •Firmwareupdatesupport(GoldMaestroanddrives) •Systemresourcefiles •Axisparameterfiles• Drive Communication Bridge Support •TheGoldMaestrosupportsfullcommunicationwith any specific drive (CAN and EtherCAT), for the purpose of simple tuning or configuration at the drive level. I.e., there is no need for direct communication with the drive.• Spatial Position-Based Pulse Generation •TheGoldMaestrosupportsspatial(alongthepath) position-based pulse generation. This is a unique feature, required for the generation of position-based events in 3D scanning systems. •TheGoldMaestrosystem,withElmo’sintelligent Gold Servo Drives, can support single axis and spatial enhanced position-based “compare” functions, resulting in trigger output signals accurate to 1 encoder count along the trajectory path.• Network Encoders: Supports master based motion on network encoders• Position Error Mapping: Supports 1D and 2D position based error mapping compensation.• SystemBoot-upTime:<30sec• Internal System BIT: The Gold Maestro system supports internal hardware BIT (Built-in-tests) procedures to ensure system integrity on each power up.
I/Os• TheGoldMaestroisafullynetworkedcontroller.AllI/O interfaces are carried out via the device network
Processor and Memory• CPU: PowerPC 333 MHz, with double precision floating point supported by hardware.• Flash: 32 MB• RAM:64MBDDR2333MHz
Catalog NumberGold-Maestro01: 13 ~ 96 VDC Gold-Maestro02: 20 ~ 196 VDC
115 mm(4.5")
25.4 mm(1")
75 mm(3")
51.9 x 40.6 x 18.1mm(2.04" x 1.6" x 0.7")
97.3 x 67.3 x 20.15 mm(3.8" x 2.6" x 0.8")
Offering You Comprehensive SolutionsElmo's Gold Maestro is a network-based, multi-axis machine motion controller that operates in conjunction with Elmo’s classic SimplIQ servo drives, as well as the new Gold Line of intelligent servo drives, to provide a comprehensive and efficient motion control solution for the entire system.
The Superior Machine Motion ControllerThe Gold Maestro is based on the most advanced, easy to use and cost effective distributed motion control architecture which enables the motion processing tasks to be shared. It contains a rich feature set that combines sophisticated motion control and advanced communications with full programming capabilities. The Gold Maestro uses standard protocols over its various communications channels (Ethernet, EtherCAT, CAN and USB), combined with IEC and C programming, and the PLCopen motion interface.
Gold Maestro Highlights• Top level multi-axis motion controller• Upper level (host) communications and protocols:• Ethernet,TCP/IP,UDP(FastBinaryProtocols,Modbus,Ethernet/
IP, Telnet, FTP, HTTP)• USB2.0• EtherCAT master for distributed networking, with redundancy capabilities and distributed clock management support• CANopen master distributed networking.• Controls up to 100 axes simultaneously.• Distributed intelligence: tasks are split between the Gold MaestroandtheSimplIQand/orGoldLineofservodrives:• Significantincreaseinthemotionsystem’scomputationpowerand
performance • Simplerhigh-levelmotioncontrolinterfaces,usingthePLCopen
standard• Fasterandbettermotorcontrol,improvedeventresponsetimes• Releases theGoldMaestro’s resources for themachine’s
synchronized motion control• Reducesthecommunicationload• The protocol implementation allows nodes to be easily added, removed and modified.• CANopen communication protocols: DS 301, DS 305, DS 401(I/ODeviceProfile),DS402• Rich,high-level,multi-axisprogrammingenvironmentwitha large amount of memory:• Native'C'programmingusingthePLCopenforMotionAPI• IEC61131-3,PLCopen• Ready-for-useapplicationprogramtemplatesforcommon automation applications.• Advanced data recording and "live scope" features, for single and multiple axes• Network statistics for diagnostics
GoldThe Maestro The Ultimate Solution for Motion Control NetworkingTop Level Multi-Axis Machine Motion Controller
Stand-alone Panel Mount Ready-to-useindustrialsolutionwithaDCpowersupplyand DC Power supply, communication cables, the Gold Maestro is ready to control your system.
EmbeddedElmo uniquely provides an option to use the Gold Maestro core for embedded applications. This ensures minimal space/weightandtightintegration.TheEmbeddedGoldMaestro is provided with support and guidelines for integration onto the application’s board.
Stand-alone Board LevelFor space saving applications, the Gold Maestro can be supplied without its enclosure and metal base. Power and communication cables are all that are needed to start working.
Gold Maestro Hardware Options
Distributed Motion Control ArchitectureThe Gold Maestro's distributed motion control architecture lends itself to an intelligent and modular design of the overall motion control system, enabling optimal selection of the drive for each axis. When coupled with Elmo's family of SimplIQ and Gold Line Network drives, the implementation of the overall motion system is extremely efficient.
Intelligence at the Axis LevelThe intelligent servo drives execute the highly demanding local position, velocity, current and vector real-time controlalgorithms,andtheyalsohandlethelocalaxisandI/Osequencesusingthedrive'sprogrammingcapabilities. Together with a wide variety of special functions and features, Elmo’s drives have very high axis level performance.
State-of-the-Art Solutions for Your Machinery NeedsThe Gold Maestro is a state-of-the-art, multi-axis motion controller. Its role is to supervise and synchronize theoperationoftheoverallmachineaxesandI/Os.UsingIEC-61131-3orCprogramming,aswellasacomplete ready-to-use API for PLCopen functions, EtherCAT (or CANopen) master functionality and a wide variety of program templates for common applications, the user can easily create programs for machine control and NC axes synchronization. With up to 100 axes in the system and up to 16 axes in synchronized motion with a cycle time as low as 500 µs and 1 µs accuracy of the overall system distributed clock, the Gold Maestro meets the needs of your application.
Standard Communication ProtocolsThe Gold Maestro is equipped with Ethernet and USB communication channels to communicate with the host computer, PLC or HMI, and supports standard communication protocols such as Modbus, Telnet, FTPandEthernet/IP.
Gold Maestro FunctionalityOperating System• Linux,withElmo’sRTextensionforreal-timemotion control support
Number of Axes• Up to 100 axes, allowing the following types of motion: mixed single axis, multiple axes and coordinated axes.
Axis Types• Intelligent servo drives (Elmo) support both the SimplIQ and Gold Line product families.• Operates in Numeric Control (NC, real-time master synchronization) and non-NC modes.• Standard DS 402 drives for CANopen, and DS 402 CoE for EtherCAT.
Control System Update Rate and Jitter• EtherCAT •CycleUpdateRate:500µs(upto16axescanbe updated simultaneously at a rate of 500 µs). •DriveCycleClockJitter:<1µs,basedonMaster Distributed Clock support, for the full network.• CAN •CycleUpdateRate:1ms(CANphysicalnetwork limitations only) •CycleJitter:<10µsforCANSyncmessageinitiation (actual jitter dependent on the CAN network’s physical limitations).
Supported Motion Modes and Interfaces• The Gold Maestro motion interfaces use the PLCopen standard.• 64 bit, real-time, double precision profile calculations, allowing full on-the-fly control over speed, acceleration, deceleration and jerk.• Complex motion schemes, including look-ahead optimizing of trajectory speed calculations for complex vector motions.• Memory for 1,000 function blocks (a buffer for 1,000 motion segments). Beyond this the buffer is cyclic, so there is no practical limit on the buffer size.
Motion Programming and Debugging• Native ‘C’ Programming, running on target. Compiling and debugging. Supplied with the PLCopen Motion Library API.• IEC 61131-3 with the PLCopen Motion Library extension using Elmo’s IDE. The following languages are supported: •Structuredtext(ST):textual •Functionblockdiagram(FBD):graphical •Ladderdiagram(LD):graphical •Sequentialfunctionchart(SFC)haselementsto organize programs for sequential and parallel control processing
Programming Execution Time, Threads, and I/O Layer Synchronization• Minimal thread resolution timing: 1 ms•Number of program execution threads: 10• Typical programming execution time (IEC): 10 µs per command.• 'C'codeprogramming:Runningasnativecodeonthe target CPU.• I/Olayersynchronizationtiminglinkedtothemaster controllersynctime(EtherCAT/CAN).I/Olevel synchronization deterministic over control cycles.
Communications Hardware• Host •Ethernet:1port,StandardEthernet,10/100Mbps, automatically detected. •USB:1port,USB2.0,12Mbps. •RS232canbesupportedinanembedded configuration.• Device Networks •EtherCAT:2xEtherCATmasterports,withredundancy support. •CAN:CANopenmasterport.
Communications Protocols• Host •Ethernet,TCP-IP/UDPforoperationalmodes. •Telnet/FTP/HTTPcommunicationforsetupand configuration. •USB:Usingbinaryprotocol(maintenance). •Applicationlevel:Ethernet-IP/Modbus.• Device Network •EtherCAT:CoE/EoE/FoE,supportsdistributedclock master. •CAN:CANopendeviceprofiles,e.g.DS301,DS305, DS401(I/ODeviceProfile),DS402.
Host and Internal Software Interface• TCP/IPandUDPinterfacefromthehostcomputer.A softwarelibraryprovidesaconvenientTCP/IPorUDP communications interface.• FutureversionswillsupportEthernet/IPandModbus overTCP/IP.• Internal software libraries, for ‘C’ user programs are provided, to write user code running on the Gold Maestro’s target processor (native mode).
Miscellaneous and Special Features• DataRecording •4MBdatarecording. •Upto32vectorscanberecordedsimultaneously. •Supportsadvancedtriggeringoptions and real-time scope capabilities. •VeryfastdatauploadusingEthernet.• Upload/DownloadSupport •Firmwareupdatesupport(GoldMaestroanddrives) •Systemresourcefiles •Axisparameterfiles• Drive Communication Bridge Support •TheGoldMaestrosupportsfullcommunicationwith any specific drive (CAN and EtherCAT), for the purpose of simple tuning or configuration at the drive level. I.e., there is no need for direct communication with the drive.• Spatial Position-Based Pulse Generation •TheGoldMaestrosupportsspatial(alongthepath) position-based pulse generation. This is a unique feature, required for the generation of position-based events in 3D scanning systems. •TheGoldMaestrosystem,withElmo’sintelligent Gold Servo Drives, can support single axis and spatial enhanced position-based “compare” functions, resulting in trigger output signals accurate to 1 encoder count along the trajectory path.• Network Encoders: Supports master based motion on network encoders• Position Error Mapping: Supports 1D and 2D position based error mapping compensation.• SystemBoot-upTime:<30sec• Internal System BIT: The Gold Maestro system supports internal hardware BIT (Built-in-tests) procedures to ensure system integrity on each power up.
I/Os• TheGoldMaestroisafullynetworkedcontroller.AllI/O interfaces are carried out via the device network
Processor and Memory• CPU: PowerPC 333 MHz, with double precision floating point supported by hardware.• Flash: 32 MB• RAM:64MBDDR2333MHz
Catalog NumberGold-Maestro01: 13 ~ 96 VDC Gold-Maestro02: 20 ~ 196 VDC
115 mm(4.5")
25.4 mm(1")
75 mm(3")
51.9 x 40.6 x 18.1mm(2.04" x 1.6" x 0.7")
97.3 x 67.3 x 20.15 mm(3.8" x 2.6" x 0.8")
Elmo's LineGoldOur Best Ever Motion Solutions
GoldThe Ultimate Solution for Motion Control Networking
Top Level Multi-Axis Machine Motion Controller
The Maestro
Dis
clai
mer
: The
info
rmat
ion
in th
is d
ocum
ent i
s su
bjec
t to
chan
ge w
ithou
t not
ice.
Stud
io Go
ld
For more information on Elmo:
Head Office Elmo Motion Control Ltd.64 Gisin St., P.O. Box 463Petach Tikva 49103IsraelTel: +972 (3) 929-2300Fax: +972 (3) [email protected]
North AmericaElmo Motion Control Inc.42 Technology Way, NashuaNH 03060USATel: +1 (603) 821-9979Fax: +1 (603) [email protected]
EuropeElmo Motion Control GmbHSteinkirchring 1D-78056,Villingen-SchwenningenGermanyTel: +49 (0) 7720-85 77 60Fax: +49 (0) 7720-85 77 [email protected]
Asia Elmo Motion Control Asia APAC#807, Kofomo Building, 16-3Sunae-dong, Bundang-gu, Sungnam-si, Kyunggido,South KoreaTel : +82-31-698-2010Fax : [email protected]
www.elmomc.com Motion Control Solutions Made Small, Smart & Simple
rev-
2 0
1-07
-201
0
or or
PC HMI Panel PLC
Elmo'sApplication
Studio(EAS) Ethernet
(TCP/IP, Ethernet/IP,Modbus, Telnet, FTP, DHCP)
Elmo's Gold MaestroMulti-Axis Network
ControllerUp to 100 Axes
REV
-0
Elmo's Gold DriveModules
(Integrated Solutions)
Elmo's Gold Network I/O Controller
Elmo's Gold Drive Integrated
Solutions
NetworkEncoder
The Gold Distributed NetworkElmo's Motion Control System Solutions
GoldDC Whistle
Gold Solo Whistle
Gold Solo Guitar
Gold Solo Trombone
Gold DC Trombone
Gold Whistle
Gold Trombone
inside
Gold Guitar inside
Gold Whistle inside
Gold Duo
Elmo's LineGoldOur Best Ever Motion Solutions
GoldThe Ultimate Solution for Motion Control Networking
Top Level Multi-Axis Machine Motion Controller
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For more information on Elmo:
Head Office Elmo Motion Control Ltd.64 Gisin St., P.O. Box 463Petach Tikva 49103IsraelTel: +972 (3) 929-2300Fax: +972 (3) [email protected]
North AmericaElmo Motion Control Inc.42 Technology Way, NashuaNH 03060USATel: +1 (603) 821-9979Fax: +1 (603) [email protected]
EuropeElmo Motion Control GmbHSteinkirchring 1D-78056,Villingen-SchwenningenGermanyTel: +49 (0) 7720-85 77 60Fax: +49 (0) 7720-85 77 [email protected]
Asia Elmo Motion Control Asia APAC#807, Kofomo Building, 16-3Sunae-dong, Bundang-gu, Sungnam-si, Kyunggido,South KoreaTel : +82-31-698-2010Fax : [email protected]
www.elmomc.com Motion Control Solutions Made Small, Smart & Simple
rev-
2 0
1-07
-201
0
or or
PC HMI Panel PLC
Elmo'sApplication
Studio(EAS) Ethernet
(TCP/IP, Ethernet/IP,Modbus, Telnet, FTP, DHCP)
Elmo's Gold MaestroMulti-Axis Network
ControllerUp to 100 Axes
REV
-0
Elmo's Gold DriveModules
(Integrated Solutions)
Elmo's Gold Network I/O Controller
Elmo's Gold Drive Integrated
Solutions
NetworkEncoder
The Gold Distributed NetworkElmo's Motion Control System Solutions
GoldDC Whistle
Gold Solo Whistle
Gold Solo Guitar
Gold Solo Trombone
Gold DC Trombone
Gold Whistle
Gold Trombone
inside
Gold Guitar inside
Gold Whistle inside
Gold Duo