Copyright 2001 ACS-Tech80 1 ACS-Tech 80, Inc. SPiiPlus Control Module Overview.
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Transcript of Copyright 2001 ACS-Tech80 1 ACS-Tech 80, Inc. SPiiPlus Control Module Overview.
Copyright 2001 ACS-Tech801
ACS-Tech 80, Inc.
SPiiPlus Control Module Overview
Copyright 2001 ACS-Tech802
SPiiPlus Control Module (CM)
Copyright 2001 ACS-Tech803
SPiiPlus Control Module
The CM combines an advanced SpiiPlus motion controller, up to 3 digital drives and a power supply in a single standalone package that can operate in a larger machine or act as the entire machine control.
Copyright 2001 ACS-Tech804
SPiiPlus Control Module
Same software tools as the SPiiPlusPCI Full Simulator capabilities 20 kHz servo update rate on :
Position loop Velocity loop Current loop Commutation
On board Sin/Cos multipliers Hardware base position compare and capture Available Modbus driver Expansion up to a total of 8 axis via the HSSI interface
Copyright 2001 ACS-Tech805
SPiiPlus CM - Hardware Overview
Digital drives: Supply voltage: 24V for the logic section. Single-phase 110-265VAC or 110-375VDC or three-
phase 230VAC. Current levels: 5A cont./10A peak or 10Acont./20A
peak (sine wave amplitude). Sophisticated current control: separate current loops
for the torque-producing and the field-producing current components.
True space vector modulation: increases the linear operation range of the digital drive by more than 15%, achieving higher velocity, lower position error, and reduced current at high velocities.
Copyright 2001 ACS-Tech806
I/O Safety inputs: one dedicated E-stop,
left limit and right limit per axis. General purpose digital I/O: eight/eight, 5Vdc or
24Vdc single-ended, opto-isolated, can be user-configured as sink or source. Expandable to 256/252 points via the HSSI interface
Position Event Generator (PEG) digital outputs:one PEG pulse per X,Y,Z,T axis (each pulse consumes one of the eight general purpose digital outputs). Four PEG states per X, Y axes.
Registration Mark (position capture) digital inputs: four (each consumes one of the eight general purpose digital inputs), two per X and Y axis.
Mechanical brake outputs: four (can be used as general purpose outputs), single-ended, 1A, opto-isolated, source-type only.
SPiiPlus CM - Hardware Overview
Copyright 2001 ACS-Tech807
I/O (cont.) Analog inputs: six, differential, ±1.25V or ±10V, 14-bit
resolution. each SIN-COS encoder consumes two analog inputs.
Analog outputs: two, single ended, 10-bit resolution.
Communication channels RS-232: up to 115,000 baud. RS-232/422/485: up to 115,000 baud. Ethernet: TCP/IP 10/100 Mb/sec. CANopen…future
SPiiPlus CM - Hardware Overview
Copyright 2001 ACS-Tech808
SPiiPlus CM - Control Architecture One main processor (MPU) - executes high
level tasks – profile generation, communication, interface, programs, diagnostics, etc.
One (slaved) servo processor (SPii) - per two axes, executes real-time control algorithms at 20kHz.
MPU
586/PentiumMPU cycle
0.5, 1, 2 msec
SPii T/D
SPii Z/C
SPii Y/B
SPii X/A
SPii cycle 50µsec
Interaction with real world
Interactionwithhost computer
Flash memory
Copyright 2001 ACS-Tech809
SPiiPlus CM – MPU Overview MPU is Pentium-like x86-based processor
in standard PC/104+ format. 4 & 8 axis version provided with 300 MHz
processor On-board RTOS MPU executes compiled programs in
programmable cycle time (0.5, 1, or 2 ms). Large memory capacities: 8Mb RAM
including 1Mb for user programs and 4Mb nonvolatile (flash) memory.
Copyright 2001 ACS-Tech8010
SPii Overview
SPii = Servo Processor, second generation. Proprietary ASIC designed by ACS-Tech80
specifically for motion control. Each SPii controls two axes. Main characteristics:
Integrated RISC + all peripherals. Powerful CPU with 120 MHz, 24-bit bus. Very cost effective. Maximum flexibility – customizable real-
time control algorithms.
Copyright 2001 ACS-Tech8011
SPii Capabilities (cont.)High Speed Hardware Based Position Event Generator (PEG)
PEG triggers external events via outputs at precise positions with submicrosecond delay.
Provides accuracy of ±1 count at up to 5,000,000 encoder quadrature counts/second.
Application examples: printing, AOI, laser cutting.
Hardware Position Registration (MARK) MARK (also known as Position Capture) provides
high-speed and high accuracy position registration capability.
MARK provides the ability to move an axis to a target relative to a registration mark.
Once an axis is moving and MARK is detected, the motion profile can be smoothly modified on-the-fly to reach a new target position.
Application example: Packaging.
Copyright 2001 ACS-Tech8012
SPii Capabilities (cont.)
Software Sinusoidal Commutation Updates at 20kHz - provides very smooth operation.
High-Speed Synchronous Serial Interface (HSSI) Cost effective way to implement a distributed system and
expand I/Os through external modules. Uses include: Laser interferometer interface Absolute feedback (for example, resolver) interface Any sensor with serial/parallel communication
Each SPii has a 2.5 MHz synchronous serial bus with 4 x 16 bit inputs and outputs and a refresh rate of 20kHz. Based on RS-485 design.
SPii communicates with HSSI modules through standard Ethernet cable (maximum length 20 meters).
HSSI is a simple protocol enabling users to build customized expansion modules.
Copyright 2001 ACS-Tech8013
SPiiPlus CM - Operation Options
Copyright 2001 ACS-Tech8014
HSSI-IO16 - Expansion Module Cost effective way to implement
distributed I/O system 16 opto-isolated inputs 16 opto-isolated outputs Up to an additional 256-inputs and
252-outputs by daisy chaining modules
Module identification and diagnostics including LEDs
DIN rail or surface mount Simple programming using SPiiPlus
Library or ACSPL+
Copyright 2001 ACS-Tech8015
HSSI-ED2 Expansion Module Interface to two remote drivers. Cost effective
way to implement a distributed motion system Includes:
Two driver interfaces – with/without SW commutation
Two quadrature encoder interfaces (A, B, I)
Limit switches interface General purpose I/O interface. Diagnostics including LEDs DIN rail or surface mount Simple programming using
SPiiPlus Library or ACSPL+
Copyright 2001 ACS-Tech8016
How to order – SPiiPlus Control Module
SPiiPlus CM- 3 – A – E- M3 – H4
CM: Control Module
Number of Drives: 1,2 or 3
Current rating: A 5/10 ampB 10/20 amp
Communication: Ethernet & 2 RS-232
No. of sin/cos multipliers: M0, M1, M2, M3
No. of HSSI Channels: blank or H4
Copyright 2001 ACS-Tech8017
How to order – SPiiPlus Control Module
SPiiPlus CM- ACC
Accessory Kit Includes:
Dsub mating connectors Phoenix mating connectors
Must be ordered with each Control Module unless the OEM is setup to work without it.
Copyright 2001 ACS-Tech8018
Thank you.