文稿产品-ethercat总线acs motion control

公司总览2Copyright

2012Founded:

1985ISO9001-2008

Certified

3Copyright

2012ACS

Motion

Control

IsraelMigdal

Ha’Emek,

Israel总部设计和制造中心ACS

Motion

Control

INC

USAMinneapolis,

MN,

USA销售和支持中心ACS

Motion

Control

AsiaSuwon,

South

Korea技术支持中心东亚ACS

Motion

Control

ChinaShanghai,

China中国销售和支持中心4Copyright

2012ACS

centerACS

distributor5Copyright

2012ACS

在以色列总部驻留着

R&D

硬件工程师团队所有ACS

的办事处有受过高度培训的应用和控制工程师去支持直接和非直接客户。现场支持邮件/WebEx

商和平台集成商受到培训后作为整个机器解决方案的一部分去支持ACS产品定期的技术培训在ACS

本地办事处的技术培训和现场的技术培训根据客户的需要。6Copyright

20127Leading

stage

and

table

manufacturerschose

ACS

to

pro ptimal

control

forhigh

precision

mechanicsThese

companies

provide

full

solutions

forhigh

precision

automation

in

fields

such

asof

semiconductors,

FPD,

solar

panelproduction,

Pick

&

PlaceThese

companies

are

formally

trained

toutilize

and

support

ACS

control

systems8半导体制造和检测能面板划线设备电子装配和测试医学影像数字FPD

检测拾取&

摆放精密直线台控制运动控制为中心的通用自动化9Copyright

2010产品总览10Copyright

2010Controller

&MasterDriver,AmplifierPowerSupplyMotorsMotion

ControllersController

&MasterDriver,AmplifierMotorsPowerSupplyControl

ModulesI/ODriver,AmplifierInterfaces11Network

components一个Machine

Processor

Unit(MPU)–

执行高水平任务

–

通讯,接口,

编程, ,

I/O

控制etc

和轨迹规划.几个(从站)伺服处理器(SPii)–执行实时控制算法以20kHz.高的采样率不依赖于轴的数量多少控制客制化和高吞吐量简单一个SPii

管理几个轴–最好的同步性PentiumMPU

cycle0.25

to

1

msecSPii

T/DSPii

Z/CSPii

Y/BSPii

X/ASPii

cycle50µsechostcomputerPCISPiiPlus

ControllerMPUEthernetRS232PCI1213ACS

EtherCAT

主站控制器任何控制模块–每个控制模块集成了控制器，驱动器和电源，当然也是个EtherCAT

主站SPiiPlusNTM–经济型独立的运行的EtherCAT

主站SPiiPlusSC

–

基于PC

软运动控制器.PiiPlusSC

软运动控制器

& EtherCAT

主站运行在一台多核PC

的一个PC核处理器上。Copyright

2010SPiiPlusCMnt-2

Dual

AxisSPiiPlusCMxx

3AxisMC4Unt14Integrated master

withtwo

built-in

drivesUpto

32

axes

and

hundreds

of

I/OTwo

built-in

drives85

to

265Vac,

upto

7.5A

continuousand

15

ak

current

(~1.6kW/3.2kW@230Vac)Dual

feedback

per

axis20kHz

sampling

and

update

rate

of

allcontrol

loopsSafe

Torque

Off

(STO)Digital

I/O:

8

+

8og

I/O:4

+

2,

12

bit

resolution15集成了

主站的带最多3个内置驱动器最大到

32

轴和几千个

I/O最大至三个内置的驱动器85

to

265Vac,

1/3P,

up

to

15Acontinuous

and

30 ak

current(~3.2kW/6.4kW

@230Vac)双反馈20kHz

采样和刷新率对所有的控制环安全转矩关闭功能(STO)高性能

(hp)

和经济型

(ba)

版本1617MC4U

–

Modular

Control

ModulesCopyright

2010MC4UIntegrates

controller+

drives

+

sEthernet,RS232HostDirect

controlof

up

to

8demanding

axes18SPiiPlusNT

line

of

EtherCAT

主站控制器SPiiPlusDC

line

of

EtherCAT

从站驱动器控制器DDM3U

line

of

驱动器LDM3U

line

of

数字控制的线性驱动器PSM3U

line

of

电源Line

of

机架19SPiiPlusNT-LT经济型控制器4,

6,

8

centralized

axes12

bits

ADC

for

电流和SIN-COSMaster,

up

to

32

axesSPiiPlusNT-HP

/

LDHigh

高性能控制器for

4,

6,

8

centralized

axes客制化控制算法高速

SIN-COS

编

插补16

bits

ADC

for

current

and

SIN-COS16

bits

drive

commands

(LD)Master,

up

to

32

axes20SPiiPlusDC-LT经济型控制器4,

6,

8

centralized

axes12

bits

ADC

for

current

and

SIN-COS21SPiiPlusDC-HP

/

LD高性能控制器for

4,

6,

8

centralized

axesCustomized

control

algorithmsFast

SIN-COS

encoder

multipliers16

bits

ADC

for

current

and

SIN-COS16

bits

drive

commands

(LD)DDM3U-2-320V-5A/10A/15A/20A2

drives

per

module,

48Vdc,

120-320Vdc,5A,

10A,

15A,

20A

cont10A,

20A,

30A,

40 ak

per

driveDDM3U-4-320V-1A/2A/3A4

drives

per

module,

120-320Vdc1A

cont/22A

cont/43A

cont/6akakakDDM3U-2-560V-5A/10A/15A2

drives

per

module,

520-600Vdc5A

cont/1010A

cont/2015A

cont/30akakakDDM3U-4-60V-4A4

drives

per

module,

24-60Vdc4A

cont/

5 ak

per

driveDDM3U-1-320V-30A/45A1

drive

per

module,

120-320Vdc,30Acont/6045Acont/90akakHigh

performanceLow

position

jitterSmooth

constant

velocityDigitally

controlled.

Simple

configurationand

settingSTO22LDM3U-55V-8A/16ANo.

of

axes:

14Acont/8

ak4Acont/16

akBus

Voltage:

45-60

[Vdc]LDM3U-28V-8A/16ANo.

of

axes:

14Acont/8

ak4Acont/16

akBus

Voltage:

18-30

[Vdc]Digitally

controlled

current

loopBest

suited

forLowest

possible

jitterHighest

smoothnessLowes ectrical

noise23PSM3U-320V-4kW/8kW/10kW115/230Vac,160/320Vdc,

4kW115/230Vac,160/320Vdc,

8kW115/230Vac,160/320Vdc,

10kWPSM3U-320V-11kW115/230Vac,160/320Vdc,

11kWPSM3U-320V-20kW115/230Vac,160/320Vdc,

20kWPSM3U-48V-0.7kW115/230Vac,

48Vdc,

0.7

kWPSM3U-28V-0.5kW115/230Vac,

28Vdc,

0.5

kWPSM3U-48V-1.4kW115/230Vac,

48Vdc,

1.4

kWPSM3U-320/48V-0.7/8kWDual

voltage

supply115/230Vac,

160/320Vdc,

8kW115/230Vac,

48Vdc,

0.7

kWPSM3U-560V-7kW230Vac

x

3,

560Vdc,

7kW24Two

axes

–

9”Six

axes

–

11”Eight axes

–

19”Eight axes

–

22”25SPiiPlusNTEtherCATMasterSPiiPlusDCEtherCAT

DrivesMC4Unt26MC4Udc最大至64

轴和几千个IO多任务最大到64

线程EtherCAT

rates

of

0.5

,1

msecHost

PC

communicationEthernetRS23227最大至64

轴和几千个I/Os最大至64

个线程EtherCAT

rate

of

0.5,

1

msecSPiiPlusSC

也包含了一个

的RTOS.(不需要Windows

RTX!)最高可能的性能!Identical

SWand

user

interface最有效的成本控制即使Windows“蓝屏”也不受影响。28PentiumPC

应符合下面的要求:Dual-core

(minimum)

or

quad-core

(preferred)

In4

or

higher

processor1

GB

(minimum)

or

4

GB

(preferred)

RAMHard

(or

flash)

diskStandard

communication

interfacesEnvironments:Windows

XP

with

SP3

or

Windows

XP

Embedded

withSP2Windows

7

and

Windows

7

embeddedSPiiPlus

SC

–

PC

Requirements2930电机驱动器接口I/O

模块Line

of

MC4UDC2

to8

axes250W

to

5kW

per

axisLine

of

UDMxx

multi-axisdrives1

to

4

axes

modules50W

to

5kW

per

axisSDMnt

step

motor

drives40V,

3A16

microsteps/step31UDMxx

–

Single,

Dual,Triple

axis

UniversalDriver

ModulesUDMba

–

Econo

versionUDMhp

–

High

performanceversion85Vac

–

265Vac,

1P/3P5/10A, 10/20A,

15/30AAvailable:

9/201232UDMpm

–

Single,

Dual

axisUniversal

Driver

Modules110Vac/230Vac

input2.5A/

5A,

5/10A,

7.5A/15AIncremental

and

absoluteencoder

feedbackSTO3334…通用驱动器模块…UDMpc

-

Single

&

Dual

axis

Universal

DriveModulesPCB

mount24dc

to

48Vdc

input2.5A/

5A,

5/10A,

10/20ASmall

footprintIncremental

and

absolute

encoder

feedbackOutstanding

linearity

for

performancedemanding

applicationsUDMLC

–

Dual,

Quad

axis

Universal

DriverModules

for

small

motors15Vdc

to

48Vdc1.25/2.5A,

2.5/5A,

5/10ASmall

foot

printExcellent

linearity

for

demandingperformanceAvailable:

June

2012SDMnt–

4,

8

axis

stepmotor

drive

modulesAC

input1

bipolar

drive,

others

-

unipolar40Vdc,

3A,

1/16th

step35UDI

–

UniversalDrive

InterfaceTraditional

+/-10V

interface2,

4axis

versionsIncremental

and

absolute

encoderfeedbackPDM

–

Pulse/Dir

interfaceInterface

to

step

motor

drives

andservo

drives

with

P/D

interface2,

4axis

versions36IOMnt16/16

I/O32/16

I/O32/32

I/O24V,

0.5r

outputSmall

footprint37Add

capabilities

with

HSSImodulesHSSI-IO16

–

adds

16/16

I/OsHSSI-ED2Interface

to

two

third-party

axesAdds

additional

8/8

I/OsHSSI-HES

–

absolute

encoder

interfaceEnDat

2.2

(Heidenhain)Smart-Abs

(Tamagawa)3-Phase

Motor

FilterFor

applications

sensitive

to

radiatedReduces

standstill

jitter

generated

withSmooth

constant

velocitynoisedrivesRegeneration

Resistors38Servo

and

stepper

drivesI/O

Modules,

digital

and

ogComponents

are

tested

and

certified,

to

assureEase

of

integrationSupport

by

ACS

engineersQualification

ofvendor

devices

available

on

requestACS

will

qualify

additional

products

per

request3940应用案例4122

个伺服轴亚微米级的精度,纳米级的抖动和非常短小的移动和定格SP

Z/C/T/DSP

X/A/Y/BSPii

cycle50µsecSPiiPlusNT

-MasterMPUPentiumMPU

cycle0.5,

1

msecSPiiPlusDCMPUPentiumMPU

cycle0.5,

1

msecDrive

Controller

SlaveSP

Z/C/T/DSP

X/A/Y/BSPii

cycle50µsecHost42Every

ACS’

Control

Module

can

be

either

a

EtherCAT

Masterora

Slave!43The

EtherCAT

Master

is

Embedded

Within

One

of

The

Control

Modules5

轴和许多

I/Os中->驱动器的安装分布式架构驱动器被嵌入到移动空间较小固定的网络管理器44SPii

Z/C/T/DSPSPii50µ

echostcomputerSPiiPlusNT

ControllerEthernetRS232PCISPiiPlus

NTMMaster

ControllerMPUPentiumMPU

cycle0.5

to

1

msec100%

identical

SW!45UDMSlaveAmplifierUDMSPii

X

A/YS/BlaveycAle

mplifier最大至64

axis和几千个IO所有轴的轨迹生成MPU

rates

of

0.5

,1

msec(and

soon

0.25

msec)Host

PC

communicationEthernetRS232464740axesHigh

rate

of

real

timecommunicationbetween

the

host

computer

application

andthe

motion

controllerHost<->

Controller

Ethernetbasedcommunication

is

just

too

slow

(and

so

isPCI!)Highlycos

sitive48SharedRAMorTCP/IPMPUPentiumSP

Z/C/T/DSP

X/A/Y/BSPiiWindows

ApplicationHostPCSPiiPlusNT

-

MasterSPiiPlusSC

-

MasterSPiiPlusSC

includes

also

a

dedicated

RTOS.

(Noneed

for

Windows

RTX!)The

highest

performance

possible!Identical

SW

and

user

interfaceThe

most

cost

effective495051525311

axes

of

movement3clustersPatient

bed

(4

axes)Tube

Support

(5

axes)Wall

stand

(2

axes)Host

PCSPiiPlusSCPatient

bedDrives(4)Tube

SupportDrives

(5)Wall

StandDrives

(2)545556&

工具5758ACSPL+多任务高级控制编程语言IEC61131-3

编程语言（可选）Host

Programming

supporting

all

WindowsenvironmentsGLOBAL

REAL

PI,

RADIUSGLOBAL

INT

COUNTER,VERTICESPI=ACOS(-1);COUNTER=0;VERTICES=8;RADIUS=500;ENABLE

(X,Y);PTP/E

(X,Y),0,0;STARTLOOP:PTP/E

(X,Y),RADIUS*COS(2*PI*COUNTER/VERTICES),RADIUS*SIN(2*PI*COUNTER/VERTICES);COUNTER=COUNTER+1;GOTO

STARTLOOP;STOP5960SPiiPlus

主机（上位机）编程库ation

and

ready-to-所以都是Windows环境Ethernet

(TCP/IP,

UDP),

Serial,

PCI

communicationShared

Memory

and

Shared

EventsSPiiPlus

C

Library

DLLVisual

C/C++

developmentSPiiPlus

COM

Library.NET

developmentUpto

10

simultaneous

opened

channelsComprehensive

set

ofuseexamples

(VC++,

.NET)Built-in

SimulatorComprehensive

Logging

support61仿真示波器运动管理器程序管理器调试和设置Bode

分析强大的支持工具62Copyright

2010高级特性63BeforeAfter64On

the

fly

switching

between

multiplefeedback

sourcesCustomizable

behavior

based

onphysical

interface65X1and

X2a one

axis

(X)

,

following

the

sameprofileEa otor

has

its

own

feedback,

while

feedback

ofthegantry

is

calculated

as

X

=

(X2+X1)/2Yaw

control:

T

=

~(X2

–

X1),

Desired

T

=

0T

XX1X266Gantry

algorithm

key

features:MIMO

Control

with

decoupled loops

:Loop

controlling

the

longitudinal

directionLoop

controlling

the

rotational

(yaw)

directionAutomatic

force

/encoder

scheduling

depending

onthe

cross

axis

locationDynamic

compensation

for

the

yaw

angleSuitable

for

both

“stiff”

and

“flexible”

gantriesAdvantages:Higher

bandwidthBetter

stabilityMinimal

crosstalkEasy

tuningReliable

operation67Air

Bearing

Gantry

SystemDelta

Tau

UMACACS

SPiiPlus

CM6869X

=

x

+

L*cos(T)Y

=

y

+

L*sin(T)L

=

Tool

length

(TLEN)Implementation:connect

X_RPOS

=

X_APOS

-

TLEN*cos(T_APOS)connect

Y_RPOS

=

Y_APOS

-

TLEN*sin(T_APOS)connect

T_RPOS

=

T_APOSXYTLxCopyright

2010y70Copyright

201071ServoBoostTM

提供:提高机器的性能一致性的性能,更高的产能和更高的可靠性在嘈杂和不确定的环境中稳健操作大大降低的变化大的负载和系统参数的敏感性容易调试减少操作和维修成本ServoBoostTM

增强运动性能一个算法的实施提供:更快的整定更好的稳定性,更低的抖动更好的精度，最小的crossover

errors更好的匀速性能自动适应在负载和系统参数的改变时自动和适应干扰的补偿。自动补偿有问题机械的自动齿槽补偿自动摩擦补偿自动补偿轴之间的相互扰动自动惯量miss-match

补偿72Copyright

2010Constant

velocity

performance(0.5

um/div)73Copyright

2012Settling

performance

(1count=1nm)Blue–

low

frequency

resonancesRed–

resonances

are

compensatedbyServoBoostTMBlue

–PID

control

–

vibrationsare

caused

by

the

resonanceRed

–

ServoBoostTM

compensates74Copyright

2012几个轴安装在同一个机器框架机构上由于加速轴的发作用力造成机构振动Thisvibrationnegativelyaffects

axes

which

aresupposed

to

maintainaccurate

standstill

position(i.e.

for

part

placement)ServoBoos

iminatesthis

interaction,

enhancingplacement

accuracyServoBoostTMeliminates

thecrossover

error75Cogging

deteriorates

performanceusing

standard

PIV

Control(Periodicdisturbances

are

observed

inthe

position

error)76ServoBoostTM

eliminatestheeffects

of

coggingYellow

–

Standstill

position

error

jitterwithout

ServoBoostTM77Red

–Jitter

with

ServoBoostTM(both

graphs

20nm/div)用于晶圆检测的纳米平台78An

X,Y,Z,

TETA

stage

typical

for

semi-conductor

inspection.

The

jitter

results

weremeasured

for

X,Ymotors.Linear

ironless

motorsSONY

laser

scale

encoder

with

0.4u

resolutionPassive

system

isol