POWER CLIPER

Features

Motor Servo Control

• Extremely fast update rates (Phase and Servo)
• Standard PID with full feedforward model
• Powerful automatic tuning and analyzer tools
• Analog, Pulse Width Modulated (PWM), Pulse Frequency Modulated (PFM), MACRO or EtherCAT Outputs
• Vibration suppression filters
• Multiple 7th order notch and low pass filters
• Adaptive control for varying loads
• Cascaded loops (force, height, camera auto-focus control)
• Support for custom-written commutation routines
• Support for custom-written servo routines
• Custom routines directly in C or from MATLAB®/Simulink®

Coordinate Systems / Forward and Inverse Kinematics

• Up to70 axes of coordinated or independent motion (8 local, 64 over EtherCAT)
• Up to 128 independent coordinate systems
• Up to 32 independent axes per coordinate system
• Dynamic axes transformations (e.g. offsets, rotations, mirroring)
• Forward/Inverse kinematics for non-linear mechanisms
• User defined routines convert between tool tip coordinates and actuator positions
• Permits direct specification of tool tip path

Trajectory Generation - Motion Programs

• Auto-coordination of multiple sets of axes
• Linear, circular, rapid, position-velocity-time (PVT), LIN to PVT (curve fit), Spline move modes
• Seamless blending between linear, circular and PVT modes
• Automatic move until trigger (hardware input)
• True S-Curve accel / decel
• All move modes supported with user kinematics
• Dynamic multi-block lookahead with velocity/acceleration control and jerk limit
• Sub-millisecond segmentation time
• Negative feedrate for true motion reversal in lookahead
• Move block execution rate up to 10,000 blocks/sec
• G-code, M-code, and T-code ready
• Calculations and I/O synchronous to motion
• Tool radius compensation, 2D or 3D

Programmable Logic Control (PLCs)

• Access to all registers
• Trigonometric, transcendental, vector and matrix functions
• 64-bit floating-point architecture optimized math
• Executive functions for standalone operation
• Data gathering of up to 128 hardware/software registers per servo cycle
• Program in PMAC Script
• Program in ANSI C:
• Real time with preemptive kernel routines
• General purpose routines
• MATLAB®/Simulink® Embedded Coder® generated code

Compensation Tables

• Position/torque compensation tables in 1D, 2D, or 3D with rollover and mirroring options
• 1st/3rd order interpolation between points every servo cycle
• Up to 256 compensation tables (64K each)
• Support for superimposed compensation table results
• Backlash compensation, fixed or in tables

Hardware Position Capture and Compare

• Specialized circuitry tying encoder counts to digital I/O
• /O on exact count (w/sub-count interpolation) at any speed (within 10 nanoseconds)
• For probing, registration, measurement trigger, laser firing

Gantry Control

• Follower motor(s) executes leader’s trajectory
• Automatic skew removal on homing
• Automatic gantry cross-coupling servo correction

Electronic Gearing and Cam

• Powerful master/slave techniques
• Position following (gearing) requires no program for motion
• External time base (cam) keeps full trajectory flexibility (non-returning, limited reversal, e.g. moving web application)
• Up to 256 cam tables (16k points each)
• Position/torque profile(s)
• Returning, forward/reverse travel
• Extremely precise synchronized outputs

Saftey & Other Features

• Watchdog output
• I2T protection
• Encoder count error and encoder loss detection
• Plus/Minus over-travel, home, and user inputs
• Software over-travel limits
• Warning/fatal following error limits
• High speed compare outputs
• Automatic brake control