：ACS运动控制

1、ACS Motion ControlAiaantecheAut&mati&nACS Motion Control成立时间：1985年产品：高性能多轴运动控制器应用：中高端设备布局-全球总部:Israel-北美总部：Plymouth, Minnesota-亚洲支持中心：South Korea 网址：研拓自动化Open eAutomati(m Boundle IntegrationMoHonCon卄ofjfriijyjw 5 牛丄.Registzr for CJownlci.EidsFree Motio n Simula tor DownloadFW Version 6.50Rea

2、l Life Application NotesMotion Simulator for FastDevelupme nt.fzXompettive Adv;Learn About Our LatestTec hnologyClick Here for Information on theNew MC4Unt EtherCAT NetworkControl SolutionSPiiPlus / MC4U DownloadsSB DownloadsTechQO Legacy Product DownloadsLatest ACS Pro duct BrochureCompany Down loa

3、dsSPiiPlus SoftwareProduct pictures and Features clipsHomeOur CompanyProductsSolutionsI 過邂冒 I Support I Contact Us IAC MotionControl 卡二 fYom CompuMix AffvmtageHome I Our Company I Products I Solutions I Downloads I Support I Contact Us I DeutschDoiA«nlci3d5 卩 SPiiPlus / MC4U Downloads» Suc

4、cess stories Company DownloadsSPiiPlus / MC4UDownloads1- SB DownloadsTechSO Legacy ProductDownl-oads卜 SPiiPlus SoftwareProdurt pictures andFeatures clipsDescriptionDateSize)JLISPiiPlus SAR & SAR-LT Hardware Guide04/07/20101241 KDOWNLOADACS Motion Control application stories collection03/24/20105

5、52 KDOWNLOADServo boost adaptive control03/16/201084 KDOWNLOADMotion Control Strategies to Obtain Better Performance02/17/2010103 KDOWNLOADMC4U HW Guide01/27/20104276 KDOWNLOADFrequency Domai n Approach to Time-Varying Payloads12/20/2009425 KDOWNLOAD- A.Flying Shear Pipe Cutting Machine in China SPi

6、iPlus 12/10/2009LF760 KDOWNLOADV-ACS Products Brochure11/19/20093110 KDOWNLOADHSSI Modules Hardware Guide11/19/20091266 KDOWNLOAD-SPiiPlus ACSPL+ Programmer's Guide11/19/20093280 KDOWNLOAD- K.SPiiPlus CM Hardware Guide11/11/20092127 KDOWNLOADSPiiPlus ACSPL Command Variable Reference10/28/2009620

7、9 KDOWNLOADCategories ALLvSort by DcteGuideACS MOTION CONTROLBETTER TOOLS FOR BETTER CONTROLADVANCED I ACCURATEAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAu

8、tdrtrtdtiOftGantry ControlAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftInput ShapingCommandInputClosed Loop SystemComidlerAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftInput ShapingAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftAiaahtech

9、研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftOriginal System ResponseResponse with Input Shaping*Aiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAut

10、drtrtdtiOft安装软件：SPiiPlus6.50DocumentsSettingsSearchHelp and SupportRun.Turn OfF Computer.ProgramsLog Off Jason hu.%0安全浏览器3Google Updater工行个人网上银行证书工員软件 工行网银客尸瑞软件Google Earthinfoteam OpenPCS 2008National InstrumentsGalil咎歌浏览器同方幻网迅雷SPiiPlus 6.50start © Q腾讯游戏RMCToolsMicrosoft Web Publishing腾讯软件Micr

11、osoft Developer NetworkPL-2303 U5B-Serial DriverADLINKPC Clone EXSPiiPlus C Library ExamplesSPiiPlus COM Library Examples5PiiPlus Data 5heetsSPiiPlus GuidesSPiiPlus TrainingSPiiPlus UtilitiesSPiiPlus MMISPiiPlus User Mode DriverAiaahtech研拓自动化Open eAutomatum Bouiidlens IntegrationeAutdrtrtdtiOft"

12、;Desktopl 课件O.SPiiPlus 6.50SPIiPlus SimulatorAiaahtech研拓自动化Open cAutomatum Roundless IntegrationeAutdrtrtdtiOft"Desktopl 课件O.SPiiPlus 6.50SPIiPlus Simulator5B44.1.2 Communicationg with theSimulator Via Ethernet SPiiPl.Adobe Acrobat DocumentB Conf igure&Setup. txtText Document1 KBStart5im.ba

13、tMS-DOS Batch File1 KBAiaahtech研拓自动化Open cAutomatum Roundless IntegrationeAutdrtrtdtiOftSPiiPlus PCI/-LT/-ST板卡级控制器-PCI '可独立运行SPiiPlus-LF4轴，经济型，小尺寸，支持：PLCopen, CANOpen研拓自动化Open eAutomaticm, Round!ess liiterationeAut&motiorbSPiiPlusSAR/SAR-LTAiaahtech研拓自动化Open cAutomatum, Roundless Integration

14、eAutdrtrtdtiOftSPiiPlus-LF-CMSPiiPlusCMIIAiaantechAiaantech研拓自动化集成了电源和驱动器Open eAutomathm. Roundless IntegrationAiaantechMWU用户可配置式控制系统：控制器，电源，驱动器Aiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftHSSI扩展模块Aiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftAiaahtech研拓自动化

15、Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftHSSI-HESAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftHSSI-ED2HSSI-I016Aiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOft1MC4UntMC4USPiiPlusCMSPiiPlus LF-CMSPiiPlus S.ARSPiiPlus SAR-LTSPiiPlus LFSPiPlus PCISPi

16、iPlus PCkLTSPiPlusPO-STMaximum number of Axes3288*4884884Maximum MPU cycle rate1kHz4kHz4kHz1kHz4kHz1kHz1kHz4kHz1kHz1kHzIntegrated universal digital drivesJJJJCANopen masterVV7JVdExternal drives analog interfaceJJJdJVJExternal drives Pulse/Dir interfaceJJJJJJJJSin-Cos encoder interfaceJJJJJHSSI expan

17、sion channels3341331444CommunicationIxEthernet,2xEthernet,IxEthernet,IxEthemet,2xEthemet,2xEthernet,IxEthernet,IxEthernet,IxEthernet,IxEthemet,channels2xRS2322xRS2322xRS2322xRS2322xRS2322xRS2322xRS2322xRS2322xRS2322xRS232up to 3 built-in driveAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutd

18、rtrtdtiOft典型系统配置：SPiiPlusCMAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftUp to 25& digital inputsEight digital inputs 8 outputsEight analog inputs 一Two analog outputsHost computerTwo linearbrushless motorsenc

19、oders feedbackMotorphasesp/PowerP/Dregeneration commands Mechanical brake outputStepper motorAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOft通信与扩展UJu。!円 wowv*KD1L NYWiiofinjSiuj siptniou uoiimuoiny udcIq刊心目畀逍加【时乙uONVD冋"/欣刿sn【d!dSSDVDd洱酣回与需制睜统一的系统架构：多处理器架构Motion Processor Unit

20、一个SPii处理器控制两个轴，轴数增加，性能保持不变!统一的系统架构：多处理器架构In teraction with host computerAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftMPUSPii :-统一的软件平台:SPilPki&ADKCO研拓自动化Open eAuiSPiiPlusADKSPiiPlus MMISPiiPlus SimulatorSPiiPlus FRFSPiiPlus LibraryPLCopen文档课件与例程Roundleas IntegrationAiaahtec

21、heAutdrtrtdtiOft人机接口软件-SPiiPlus MMIPiiPlus MMI|- | |XApplication Setup ToolsHelpFirmware:6.50 Communication: SimulatorCommunication|Scope|Safety Monitor|Termi nal|h/lotion blanager|I/O Monitor(Program h/lanager |Add Watch|Print(Close|Aiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOf

22、t人机接口软件-SPiiPlus MMIAn)i:rt)cn SduD Ttds HcM：u-r uicxi.ktHineiQT8CT8 (心 Scope - SPriPlus MMIiiPlus MMI金 Buffer b SPiiPlus MMIFkrtAvac 5X0I JOG wflh default and nondefauft velocity prgI The program moves X! 1. In Jog mode, posit we dir ecl ion arid defeult -/elocily urilil RPOSIOI 2. In Jog mode, neg

23、al direction 合nd nondefault -/elocity of -503J urIDefine motion parameiers-XJ/EL = fOR ! Set velocity 电ACC = 100000 i Sei accelerationX DEC = 1QDOOO I Set decelerationX_-ERK=2CCCOJJD!SdjerkX PTiFC = 1COTO I £ei kill door* faiion!一Motion e«ecutionSET X RPOSO I Reset X a:cis posilion ENABLE

24、X ! Enable X 3ki& drkerJOG %, 4 I Start X axis jogging al can si ant elacrty TILLX_RPOS>1CDO I Wart untill X position > 1000KILL X 1 Kill 1ho molion (per DEC variable)JOGfy X.-9300 I Start X ayis j o qqing at constant velocity -93D0 (ne-TILLX_RP0SO ! Wait until IX position > 1OJJKILL X

25、i Kill ihe moiion (per DECvansble) STOPcc<n piledLn 1.Ccl 1話 startSL b.rogrcm Manager-SPiiPlu. X|CUiq Vfev/DisefcieCletus AitorcUn*Comn>jri:«4cn. SwidScitety Mentor12 MonrtorPnrt £)曰口0 0 0 0ctryenp1«/T 17：.-wmpicd SPiiPlus MMIOf A.XCS 2M3V« 1OT 刃斜SIM KYAxispMovcircrcmcrt Y匕

26、 | 4 | aElRdcfcfccsleJTarget Ftoston、©C1? (VHL )Accekrdicn (ACC)Dec 创 Ef econ (DEC)Jeri:(£RK)WIDEO3fefmnCKDEC) fiMnVVhieHsdStop motion |1QCOOODCOsoco33COOO：:：:： - J.UiO.CODOo| Dis 出ejIC03C0CO3C0iocoooMCOOClCOOOJEt2COJCO2CO3C0Et6AQOFe<fcftCKPC0ti3nCFPOS) 7393394Poston Bro仃 PC )Mocnj Acee

27、hreiir In Bosilion Motor EnatiedZcroFeo5ro:i: Rottencooo7 Tria>?t Sooce onhWbn (ww sirie trierngrode)Zero Taief PosbcnCbse16:43Aiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOft仿真器软件- SPiiPlus SimulatorAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOft频率响应分析软件-SP

28、iiPlus FRF40-20-40-60-80-200-150-100-II盃:剧 MnillllMBHIIIIIIMi(6a)p) ewCDJZd50-50-100-150-20010.0mHI100.0Frequency(Hz)1000.0 2000.0Aiaahtech研拓自动化Open cAutomatum, Roundless IntegrationPLC编程软件-Infoteam OpenPCSAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftEile Editiiew Rroject BL匚 E

29、xtras Lnsert 邂ndw Z阻蚣 B： 扇= 画 t隠UI*4- 口PLCB® -nfoieam OpenPCSV¥0522出 Firmware W- Library fu proau耐 Proje耳 SAMPLEPROX >疋 esouBeML U5ERT7PELYPI| Dccclerotion|voiuviiy| Acceleration1Distsnce1條§§KLXwEnab 一 eFBAx_sWABLEERRORI3O.TXEC.: 00sANDIBO.PO1乏csput-z-OutputN2iobNDIBO:poi>x

30、_£-EXEC DONEA: OOE:ER$posnlOOEiYELO: ERRORTACCE: ioDECELOpen eAzcsuuios. Ka=sdFess I=ngrff=o=kJ221c3ADUN-IECHeAufomcdionAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOft软PLC编程 IEC61131-3： LD, FBD, ST, IL, SFC采用 Infoteam OpenPCSPLCOpen运动控制功能块支持 CANOpenAiaahtech研拓自动化Open cAutoma

31、tum, Roundless IntegrationeAutdrtrtdtiOftSPii运动控制芯片SPii Servo ProcessorAiaahtech研拓自动化Open cAutomatum Roundless IntegrationeAutdrtrtdtiOftSPii运动控制芯片Aiaahtech研拓自动化Open cAutomatum Roundless IntegrationeAutdrtrtdtiOftSPii运动控制芯片The SPii processor provides unique capabilities such as x65,536Sin-Cos encode

32、r multiplier, PEG, position registration and stepper control.60MHz数字编码器接口16位模拟量驱动输出脉冲/方向信号输出PEGMARKHSSISIN-COS编码器细分器-PEG：高速脉冲触发-高速，输出触发延时为亚微妙级在5MHz脉冲的编码器下精度达到±1个脉冲 应用场合：激光切割，打印，成像 MARK：高速位置捕捉-高速，高精度-应用场合：包装 HSSI:咼速同步串|行接口-扩展接口: I/O,编码器，驱动-总线速率25MHz,刷新速率20KHZ,基于RS-485标准网线（20米）-协议简单，客户可自己设计扩展模块-S

33、IN-COS编码器细分器-4 65536倍，16位分辨率，2.5MHzSINa COS-可达到亚纳秒级的分辨率Aiaahtech研拓自动化Open cAutomatum Roundless IntegrationeAutdrtrtdtiOft系统软件架构 MPU程序：在MPU的Flash中SP程序：初始化时载入SPii中，包括伺服算法软件工具SPiiPlusADK：安装在PC上-SPiiPlusMMI-SPiiPlus Simulator-SPiiPlus FRF- SPiiPlus Library-PLCopenFirmware - MPU程序与sp©序通信运动轨迹生成（APOS）

34、给定值计算（RPOS）安全控制数据采集硬件位置触发（PEG）-硬件位置触发（MARK）主机即时命令执行任务调度和管理Firmware - SP 程序编码器反馈值处理-给定值精插补位置环控制算法速度环控制算法 -电流环控制算法应用程序开发Aiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftSPiiPlusp/DACSPL+AnalogCentralizedPCC LibraryCOM

35、 LibraryEthernetIPCISerialCANOpenDistributedAiaahtech研拓自动化Open cAutomatum, Roundless IntegrationeAutdrtrtdtiOftACSPL+开发环境Application Setup Tools： HelpFirmware:6.50 Co mmunication: SimulatorJ CommunicationScopeTerminalMotion k口回冈Program 沏 an agerDisable AutoroutineXProgram Manager-SPiiPlus.BuffersDeb

36、ug33Q5S13mcaQ.viewStatus 0 4 2 3 4 5 6D o e 20 D o D o D o oO oD oD 0D 0empty compiled empty empty empty empty empty empty empty empty D-ButferRun Step Stop I Stop All2 Trigg er Scope on program start (use single mode)I! (A) Absolute and relative PTP|Undo!Set motion variablesX_VEL= 3000! Set maximum velocityCu