Motion Control - ElmoMC

Elmo's Capabilities


Motion Control
Motion Controller Host Communication
G-MAS supports TCP/IP, UDP/IP, Ethernet/IP and Modbus TCP protocols using both Ethernet and USB ports.
Enables propriety communications for TCP/IP connections using C and C++.
Standardized Modbus-UDP protocol for communication with Host Computers, HMI and PLC...
Standardized Ethernet-IP protocol for communication with Host Computers, HMI, and PLC...
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Motion Controller HOST Programming Environment
G-MAS provides numerous communication interfaces and ways to perform and debug motion sequences.
G-MAS .NET API libraries using Standardized PLC Open motion and administrative functionality to program your application on Microsoft Visual Studio IDE Environment.
G-MAS Win32 libraries for RPC (Remote Process Control) using C/C++ Microsoft visual Studio environment programing, based on standard PLC Open motion and administrative functions.
G-MAS Developer Studio (Eclipse Based) IDE for Native C/C++ Programming languages , based on standard PLC Open motion and administrative functions.
Build In EAS IDE for IEC6113-1 Standardized PLC Open Programming that supports all 5 languages: SFC, FBD, LD, ST, IL.
Build In EAS (Elmo Application Studio) GSM tool for writing fast machine motion sequences.
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Motion Controller EtherCAT Field Bus Communication
G-MAS fully supports up to 100 EtherCat slaves with numerous slave types using the EtherCat communication protocol.
G-MAS provides an advanced tool for viewing real time EtherCAT diagnostics and network status.
CoE - CAN Over Ethercat. Standard DS402 over the Ethercat Network
EoE - Ethernet Over Ethercat. Ability to communicate with drives with native drive language.
FoE - Ability to download firmware...
Support 3rd party EtherCAT IO modules for controlling and monitoring analog and digital IO’s.
CoE - CAN Over Ethercat. Standard DS402 over the Ethercat Network
EoE - Ethernet Over Ethercat. Ability to communicate with drives with native drive language.
FoE - Ability to download firmware to
G-MAS can control motion for any 3rd party EtherCAT-compliant DS402 slave devices, alongside Elmo devices.
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Motion Controller CANopen Field Bus Communication
Working with the CANopen standard, the G-MAS user can easily configure, control and monitor the network.
G-MAS provides an advanced tool for viewing real time CANopen diagnostics and network status.
Protocol to drives is strict DS402 supporting the following protocols:
• Cyclic Position
• Cyclic Velocity
• Cyclic Torque
• Interpolated Position
• Profile Position
• Profile Velocity
Full support for standard CANopen DS 401 IO Protocols.
Ability to configure and read position of CANopen encoders on the CAN network.
G-MAS can simulate a CAN encoder on the network, thus reducing the testing time needed on a real CAN device.
G-MAS provides a real-time gateway to Elmo drives on the network via the CANopen standard.
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Single Axis Motion
Develop, test and fine tune single axis motion.
Single axis motion and API is performed according to the PLCopen Single Axis State machine.
User can insert up to 1000 Single axis motion blocks in advance, while defining real time scenarios to occur between function blocks (Speed Changes, Torque Changes, IO Changes etc.).
User can perform any motion. From simple point to point motions to complex synchronized motions
User can choose to use the drives profiler while the G-MAS only controls the beginning and end of motion commands.
64 bit, real-time, double precision profile calculations, allowing full on-the-fly control over speed, acceleration, deceleration and jerk
Velocity change on the fly to specific velocity command (Previous, Next, High, Low command ) without stopping the motion
User can define and emulate a full motion system without actual drives or mechanics by defining an axis a "Virtual Axis"
User can specify a prepared or on the fly path with discrete position, velocity and time. The G-MAS will interpolate (5th order) to create a smooth and contiguous path
Enables imposing an additional profiler on top of an ongoing motion in real time.
Software and Hardware Limits are handled by the G-MAS Network Controller.

‘In Target’ as well as ‘Motion Ended’ status reporting for any axis.

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Multi Axis Motion
Work with grouped sets of axes to synchronize complex motion.
Group motion and API is performed according to the PLCopen Group State machine.
User can insert up to 1000 Group axis motion blocks in advance, while defining real time scenarios to occur between function blocks (Speed Changes, Torque Changes, IO Changes etc.)
PLCopen standard Linear and Circular motions
G-MAS can execute complex defined real time Kinematic Transformations for machine related coordinated systems.
Velocity change on the fly to specific velocity command (Previous, Next, High, Low command ) without stopping the motion
Create smooth polynomial shape segments in 2D and 3D space.
 
User can specify a prepared or on the fly path, up to 16 axes - with discrete position, velocity and time. The G-MAS will interpolate (5th order) to create a smooth and contiguous path
User can define either to work in Fixed time or Constant Velocity spline modes.

Enables imposing an additional profiler on top of an ongoing motion in real time.

Safe Zones can be set to avoid entering prohibited areas.
‘In Target’ as well as ‘Motion Ended’ status reporting for any axis.
Support for delta robot kinematics using multiple coordinate systems
The Flying Vision is an optimal Solution for any machinery whose process requires position correction while moving at high speed and stable and smooth movements
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Error Mapping Correction Support
Error Correction
Compensates for pitch variations, stage bowing and misalignment. The feature allows position corrections for 1D, 2D and 3D systems such as XY tables, etc.
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Servo Technology
Servo Drive Special Functionality
Support all DS402 and PLC Open Homing methods such
• RLS, FLS
• Home Switch
• Index mark
• Home On Block
• Immediate Homing
• Absolute encoder home
Trigger fast digital output as a function of socket position
• Tabulated Absolute Position
• Tabulated Time Duration
• Absolute Position + Delta Position
• Absolute Position + time duration
Elmo Gold servo drivers provide built-in capabilities for Master-Slave follower configurations
• Position follower
• Velocity Follower
• Current follower
Scaling factors using DS 402 UU (User Units) for position, Velocity and acceleration scaling.
32 bit modulo with special RADO (Rotary Axis Direction Option)
• Normal positioning
• Negative movement
• Positive movement
• Positioning with shortest way
Logical Braking for reduced braking time.
Simple BW test by the user using EAS sine sweep interface.
Wide range of profiler reference commands
• CANopen/Ether- CAT DS402 based standard
• Analog (+-10V)
• P&D
• User Program
Gold Drives’ powerful control enables true synchronization between 2 gold drive without the need to designate, and thus waste, an entire motion controller exclusively on Gantry Realization.
Differential and Absolute 1 Dimension error correction implementation on the drive level.
In both Master and slave axes the error correction mechanism is active.
Output compare functionality for triggering external equipment as a function of the Master axis position is supported in Gantry system
Special procedure for measuring the offset between two indexes located on separate linear scales of a Gantry system.
Quadrature/Analog/ absolute feedback emulation in a standalone or network based Gantry system
Periodical and non-periodical ECAM with fixed or varying segment gaps, based on PLCopen ECAM and gearing functionality.
2 Motors Controlled by 1 Elmo Gold servo drive
Parallel Output Brake for high current brake consumption

Elmo's servo drives double your options – smart servo drive and a built-in Single axis controller

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Servo Tools
Two built–in high bandwidth servo control topology options
Low Pass, Notch, Anti-Notch, Lead Lag and 2nd order general filters for overcoming “defects” of the mechanical system
Multiple plant, fast identification or Sine sweep Identification

System analysis in the time domain (Step Response) and frequency domain (Nichols, Bode)

Multiple plant, fast identification or Sine sweep Identification
Automatic Controller design methods or Manual design for the advanced control engineer
Current gain scheduling to compensate for the motor's non-linear characteristics and for bus voltage variations
• Using nonlinear compensation method to overcome friction by adding an offset command to the integral filter of the velocity loop
• velocity GS table
Enhanced torque-speed operation using advanced field weakening.
Highest current (Torque/ Force) dynamic range of >2000
Using 3 controller gain sets before, during and after motion.
Error Mapping for high system accuracy.
Velocity and Position gain scheduling for ultimate servo loop performance.
• Brush and Brushless
• AC Servo
• Rotary & Linear
• Torques (DDR)
• Voice Coil (DC)
High speed 2 Phase, 3 Phases open and close loop stepper motor control.
MIMO (Multi Input Multi Output) control solution structure for Planar X/Y systems.
Keeping constant Thermal Stress (I2t) for all peak currents and thus avoiding the amplifier from “over stressing” and keeping it within the safety limits.
In Elmo Amplifiers & Drives:
• IP = 2X IC
Peak Duration for rated IP ≈ Typical 3 seconds
stead of having “fuse” I2t limits to the IP, the R type has not IP capabilities, but only continuous current capabilities that is higher than the “traditional” IC (by 1.5) and is only thermally limited.
The FASST Technology is realized in the FID, Elmo’s fully customized analog/digital IC designed to “Optimum Drive” of power MosFETs and IGBTs
• Provides fast and highly efficient switching
• Keeps process “soft” with no stress on power device with very low EMI
Low EMI below the conductive medical standard.

Safe Torque Off (STO) is implemented with  two discrete safety inputs, in accordance with IEC 60204-1.
Thumbnail crop is attached also.

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Advanced Feedback Technology
Elmo’s “Socket Technology” embedded in Gold Drives and supported by the EAS, enables the quick and simple set-up of any type or configuration of encoders.
Gold Servo Drives support Port A and Port B manipulations. This also applies to Dual Loop applications, dual sensor motors, etc.
Using internal Programmable multipliers: x4 to x8192 to achieve high analog encoder resolutions.
Gold Drive Absolute Position Sensors support:
• EnDat 2.1/2.2
• BiSS
• Panasonic
• Tamagawa
• Mitutoyo
• SSI
• Gurley
For operating higher-resolution absolute encoders, the user can mask both upper and lower bits via the EAS without any performance degradation.
Feedback Emulation (socket) into one of the following signals format:
• A & B quadrature
• Pulse & direction
• Up & down
• Hall signals
For smoother operation and improved noise immunity, Glitch filters can be used.
Programmable reference frequency: 1/(2*TS*N), N=1/2,1, 2, 4 (Ts = sample time in micro seconds)
The “Halls Only” feedback application is used to control the commutation, current loop, velocity loop and position loop.
Correction for offset, amplitude and phase mismatch in analog sensors (Resolver, Analog Hals, Analog Sin/Cos)
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