Product Introduction & Basic Concept

Product Introduction & Basic Concept

AgendaAgenda

Basic Concept of Motion ControlProduction Introduction & Selection GuideApplication Examples

Basic Concept of Motion ControlBasic Concept of Motion Control

Motion Machine vs. HumanMotion Machine vs. Human

Controller Motor, Driver Ballscrew, Hardware Vision, Sensor

Aurotek

UNA-CMulti-Axis Controller

Calculation, Decision Power Transmission, Support Feedback

Brain Muscle Bone Eyes, Skin

Motor ControllingMotor ControllingGeneral Motor

General Motor

Motor & Inverter

Stepping Motor

Servo Motor

brake & clutch

Direction Speed Position Character

Can only move with constant speed

Can perform simple moving and stopping

Use the inverter to control the speedCan accelerate and decelerate speed

Can be used for speed and position control. Torque is small in high speedoperation.

Can be used for speed and positioncontrol. The control of speed and position is highly reliable.

Type

Motor ControllingMotor Controlling

In basic, there are two kinds of motor:Servo motor (with encoder feedback)Stepping motor (without encoder feedback)

For motor control, there’re mostly three kindsPosition control (Pulse command)Speed control (Voltage command)Torque control (Voltage command)

Positioning SystemPositioning System

PC-base Motion Position Control System

CurrentPulse

Servo Driver Motor

Feedback

EncoderCommand( PCI BUS)

Encoder Feedback,Alarm Signal…

Pulse Type for Position ControlPulse Type for Position Control

AB phase, CW/CCW(2-pulse), Pulse/direction(1-pulse)

A

B

CW

CCW

Pulse

Di r.

Count 1 2 3 4 5 6 5 4 3 2 1

Speed Profile of Motion DrivingSpeed Profile of Motion Driving

Constant Speed Curve

Trapezoidal Speed Curve (T-curve)

Speed Profile of Motion DrivingSpeed Profile of Motion Driving

S Speed Curve

Speed Profile of Motion DrivingSpeed Profile of Motion Driving

Change Position on the Fly1. the pulse command is increased

2. The pulse command is decreased

InterpolationInterpolation

Linear interpolation is used to draw a straight line

±0.5LSB

5 10 15 200

5

10

Y

X

(20,9)

InterpolationInterpolation

Linear Interpolation (for 2 axes)- Long Axis outputs an average pulse train- The pulse out of short axis depends on the Long Axis

InterpolationInterpolation

Circular interpolation is used to draw a circle or a arc line

X

Y

12

65

7

0

4

3

Solid line : radium Dash line : radium±1

InterpolationInterpolation

Circular Interpolation - Also use Long and Short Axes to calculate

Continuous InterpolationContinuous Interpolation

Can be mixed with linear and circular interpolationsNo acceleration/deceleration during the continuous interpolation

1500

3000

4500node5

node1

node2

node3

node4

node8

node7

node6

60004500-1500 (0,0)

X

Speed

node1 Time(0,0) node2

A Continuous MovingA Non-continuous

Moving

Product Introduction & Selection Guide

Product Introduction & Selection Guide

Motion Product Selection GuideMotion Product Selection Guide

PCI-1241

Distributedor

Centralized?

Inquiry

PCI-1202U ADAM-5202 AMAX-2050PCM-3202P

PCI-1240UPCM-3240PCL-839+

Distributed

Centralized

AdvanceInterpolation

VoltageCommand

Yes Yes

No No

AMAX-221XAMAX-224X

PCI-1242

Centralized SolutionCentralized Solution

System configuration (for servo motor control)

Servo Driver

Motor

Limit Sensors

IPC

Encoder Feeder

Limit, Home

Command, Signal

Power

DLL driverMotion Utility

PCI-1240

Centralized SolutionCentralized Solution

Motor Control MotionPCI-1240U: 4-axis Universal PCI Stepping/ P-type Servo Motor ControlPCM-3240: 4-axis PC/104 Stepping/ P-type Servo Motor Control PCI-1241: 4-axis PCI Stepping/ P-type & V-type Servo Motor ControlPCI-1242: 4-axis PCI Stepping/ P-type Servo Motor ControlPCI-1243U: 4-axis Universal PCI Low Cost Stepping Motor ControlPCL-839+: 3-axis ISA Stepping Motor Control

EncoderPCI-1784U: 4-axis Universal PCI Quadrature Encoder and CounterPCL-833: 3-axis Quadrature Encoder and Counter

Wiring BoardADAM-3952 Series: PCI-1240U/PCM-3240 Wiring Terminal

(General, Mitsubishi J2S, Panasonic Minas A)ADAM-3943: PCI-1243U Wiring Board with LED

PCI-1240UPCI-1240U

4-axis Universal PCI Stepping/P-type Servo Motor ControlFeatures & Specification- Independent 4-axis control- 2/3-axis linear interpolation- 2-axis circular interpolation- Continuous interpolation- BoardID switch- Programmable T/S-curve acc/dec rate- Up to 4MPPS O/P for each axis- 2 pulse type: CW/CCW, Pulse/Direction- Up to 1MHz encoder input- 2 encoder I/P type: A/B phase, Up/Down

Distributed SolutionDistributed Solution

System configuration

MotionSlaves

DigitalSlaves

AnalogSlaves

IPC

MotionSlaves

AMAX-2050KW

ADAM-5550KW

Master

Slave

PCI-1202U

ADAM-5202

Distributed SolutionDistributed Solution

AMONet- RS-485 serial communication by Cat.5 LAN cable

- Max. transmission speed: 20Mbps- Each ring connect up to 64 slaves (terminated in the end)

Pin 1 Field Ground

Pin 2 Field Ground

Pin 3 High Speed RS-485 +

Pin 4 Field Ground

Pin 5 Field Ground

Pin 6 High Speed RS-485 -

Pin 7 Field Ground

Pin 8 Field Ground

Master

SlaveNO.#2

SlaveNO. #1

SlaveNO.#3

SlaveNO. #1

100m

Distributed SolutionDistributed Solution

AMONet MasterPCI-1202U: 2-port Universal PCI AMONet MasterPCM-3202P: 2-port PC/104+ AMONet Master AMAX-2050KW: GX2-400 PC with AMONet Interface (1-port)ADAM-5202: 2-port ADAM AMONet Master

AMONet Motion SlaveAMAX-221X: 1-axis Servo Motor ControlAMAX-224X: 4-axis Servo Motor Control

AMONet DIO SlaveAMAX-2730: 8/8 ch Isolated Digital Input/Output AMONet Slave AMAX-2750 Series: 32 ch Digital Input/Output AMONet Slave

AMONet AIO SlaveAMAX-2710: 12-bit 100kS/s 16-ch AI, 4-ch AO AMONet Slave

Distributed SolutionDistributed Solution

AMAX Modules Naming Rule

Symbol Function Type

0 Controller

2 Motion Control slave module

7 Data Acquisition and control slave module

Symbol Axis Number

1 1-axis

4 4-axis

Symbol Interface Type

1 Multifunction and Analog I/O

3 16-ch Digital I/O

5 32-ch Digital I/O

Serial numberAxis number

Interface Type

Function Type

AMAXAMAX--22□□□□□□

PCI-1202UPCI-1202U

2-Port AMONet Universal PCI Master Card

Features & Specification- Max. 20Mbps transfer rate- 2 independent AMONet rings- Max. 128 slaves supported- Programmable digital input- Easy installation with RJ-45 phone jack and LED

AMAX-2050KWAMAX-2050KW

CPU: AMD Geode GX2-400 processor, 256MB DDR onboardVGA/Keyboard/Mouse: DB-15 VGA Connector, PS/2 keyboard / mouseSerial Ports: 2 x RS-2321 x Isolated RS-422/485 port w/ auto-flow controlSpeed: RS-232:50~115.2 kbps, RS-422/485:50~921.6 kbpsUSB Interface: 2 x USB ports, USB OpenHCI, Rev. 1.1 compliantLAN: 1 x 10/100 EtherNet port (RTL8100B)CAN: 1 x Isolated CAN port (local)AMONet: 1 x Isolated AMONet with 1 x RJ-45 connectors (local)SSD: 1 x Internal (Master) &1 x External (Slave) Type I/Type II CompactFlash slotWatchdog Timer: Programmable.LED: Power, CF, Alarm for RAM Backup Battery4 Programmable Diagnostic LEDsPower Supply: Min. 15W ( 9~36VDC) (e.g +24V @ 625mA)Power Consumption: 8W (Typical) 15W (Max.)Software Options: Windows CE 5.0

Application ExamplesApplication Examples

Semi wire-bond inspection machineSemi wire-bond inspection machine

Application: Load / Unload / Move / Pick / PlaceSolution: ATM+PCI-1202U+AMAX-2241*5+AMAX-2756*6

Region: TaiwanSI: EAPEnd User: KYEC

Reduce Wiring CostAnd Maintenance !

LCD Loader(2-Axis), Unlaoder (6-Axis)LCD Loader(2-Axis), Unlaoder (6-Axis)

Application: Load / Unload Solution: PCI-1240*3+PCI-1758UDIO*2

Region: TaiwanSI: CSUN

PCI-1240*3 PCI-1758UDIO*2

Mits

ubish

iMi

tsub

ishi®®

ADAM-3952/J2S*1

ADAM-39100ADAM-3952*2

General Purpose

Robot ControlRobot Control

Application: Car Lamp Paint SystemSolution: ADAM5550KW+ADAM-5202+AMAX-224X

Region: Taiwan

AMAX Master Module

AMAX Motion

AMAX Digital IO

PCB Cutting and InspectionPCB Cutting and Inspection

Application: PCB CuttingSolution: IPC+PCI-1240U+PCI-1750

Region: Taiwan

Motor Driver

Encoder

PCI-1240

PCI-1750

IPC-644

Doors, Sensors, …

The End & Thank you.The End & Thank you.