无刷电机发展趋势和应用

wwwa’ockwellautomation,comJ]«JIExposed-IamdesignformaximumtorquAandpowf?rNEMAandindustrystandardmountingsHalls,resolverorencoderfeedback_____NeodymiumIron-BoronmagnetsforhightorquedensityMultiplewindingchoicesandstacklengths.ClassFwindinginsulationDoublA-shieldedbearingsH*ghEfficiencyBrushle%*DCMotor■.OptimizedSlc<FBI*amamumtor叫&40.X%mweeftcienithwsueruoaWT«-«uTLiituurfiJtt!；mcmaSkewedLimkMtkxi^wthcddslotoounuPrQ-wisUll»dIntegralCommutabofiBoard*中HfliEHBdsdfitt^igneOcoggtrioRaniEarthMagnabep：nk>hig*i||uinawui砌hwMinimtiDdEndTwmtofliuamittDeifcnrunoeRotorA«»emblywsymcunlnQ(JirrttyWtM(WnStatt•AachanodGrcxwasioseewdfiod<m>^«uM)tits*!ChitHIrauiationH*gi»OamrtyKxNgnwnptti&jKcpertttfiluplo155^:1CopparW*fMhngftrttwItenr.iirriU!；nceFrameless”Kit”MotorsDirectdrivemotorconstructiongivesequipmentdesignerstheadvantagesofloweredcosts,increasedreliabilityandimprovedperformance.FratnelessKitMotorsarethemostcosteffectivedirectdrivemotorsolutionsavailable.Kitmotorssavespaceinapplicationsbecausethecouplings,motormounTinsbracketsandextrabearingsyouwouldfindiiicoupleddriveconsrruciiotiareeliminated.Sincetherearefewermovingparts,thedirectdiivekitmotorapproachallowsforamorereliableandcompactdesign.FramelessKitMotorsprovide*Asignificantcostsavings*Reducedmechanicalcomplexity■Greaterdesignflexibility•Highperformanceinacompactpackage■Improveddynamicresponseandsettling■MaximizedmotorsizeperapplicationspaceCoupledDriveDirectDriveThecouplings,motormouiiliiigbracketsandextrabearingsusedincoupled-driveconstructioncancreatereliabilityandpci'fcrmanccproblems-IndustriesthatcanbenefitfromusingFramelessKitMotorsinclude:AutomotiveMachineToolMaterialHandlingPackaeincRoboticsSemiconductorDirectdrivemotorsprovidehigherdynamicstiffiiessbyeliminatingthecomplianceofshaftattachments.Brushlessmotorseries-In-lineplanetarygearheadonnectionOptions-SpecialFlangeandShaft-FlyingLead,350minimumlength6-2500LineCount8-3000LineCount5-2048LineCount4-2000LineCount3-1024LineCount2-1000LineCountOE-OpticalEncoderRS-ResolverLH-LinearHallSH-SwitchHallSL-SensorlessCo-nI§utciitailo；nSF(eei>aekeringModification)C-BayonetConnectorsB-ScrewThreadConnectors3-RoundandStandardFlange2-FlatsandStandardFlange1-KeywayandStandardFlangeMountingandShaftOptionsEngineeringModificationOrderingInformationSinewave(Omit)TrapezoidalwaveRatedPower5015-HOE4-A1-100Pn=50X10=500WRatedSpeednN=15X100=1500rpmRatedVoltagesH-300VDCI-150VDCJ-110VDCK-60VDCL-48VDCM-36VDCN-24VDCP-12VDC4C5BrushlessMotorControllerseCyclecontrollersfeatureatectiuiquethatutilizesahighfrequeuo'iiidiictorwithapowderedinetalpotcore.Weemploy30kHzPWMforperforniauceandefficiency.ONESTEPT«EEPHA7ElbVEPlEPmovinglossesfromthemotortoarobustdevicelikeaninductorisveryattractive.makingitpossibletonninimizePWMinthemotor,whichisasourceoflosses,heatandinefficiency.Further,theperformanceandefficiencyofmainbuscapacitorsareimprovedathigherfrequency,allowingtheirsizeandcosttobeminimizedivestepCOHMJTATDRASSimTEJGATEDMra(HHMUwnmbhl<witchmffllTMDJ1ESTFHHIOPO苡JLETDDIXIE調似LUMajorApplicationsBrushlessDCMotorin6-StepModeThemotorissuppliedbythreetrapezoidal6-stepwaveforms.Duringeachstep,twophasesareexcited.Insensorlessmode,theunexcitedphaseismonitoredtoreadtheback-EMF.Heating,ventilationandairconditioningRefrigeratorsMedicalequipmentRoboticsFansPumpsHarddiskdrivesCD/DVDdrives0啦TVI咖了FGATECRMRGATECRhfHGATEDR刪MKKOCONTROLLeR:>SMARTPOWERcurrenlBrushlessDCMotorinSinusoidalModeThemotorissuppliedbythreesinusoidalwaveforms.ThiscontrolmodedeliverslowlevelsofacousticAndelectromagneticnoise.Aresolverandcurrentsensorsarenormallyneededforhigh-performanceoperation.MajorApplications:Heating,ventilationandairconditioningRefrigeratorsMedicalequipmentRoboticsFansPumpsHarddiskdrivesCD/DVDdrivesITH=TT?M*RTPQAFRMldWCOKllROLLEJ?PECTIAERB嫩EIRESOLVERMajorApplications:PrintersAutomotiveAirconditioninglouverFactoryautomationMachinetoolsDriverforTwo-PhaseBipolarStepperMotorsAfull-bridgeconverterisrequiredtodriveeachofthetwowindingsofatwo-phasemotor,whereasathree-phaseinverterisneededtodriveathree-phasemotor.MajorApplications:Consumeraudio/videoShaversToysCordlesstoolsAutomotivebodyfunctionsTractionServomechanismsFactoryautomationMachinetoolsFull-BridgeConverterThisconfigurationenablesthebi-directionalopcrationofPMDCmotorsH«J=ET■似hiiyO?.=FTOR剛ANALOGCCWTROuJR-n=-丁rclefen:econnandsWCIWOKTFflllERTWRTPOWER^M^KJ椒SUPPLTMajorApplications:WashingmachinesWindow&dooropenersBi-DirectionalInductionMotorDriveWhenamotorwithaphase-shiftcapacitorisused,thedirectionofrotationcanbereversedbymeansoftwoACswitcheswhichconnectthephase-shiftcapacitorinserieswitheitherofthetwostatorwindings.NewGenerationPMD(Phase-2)Sinewavedrivebysoftware(1'stgen.PMDMCU)Sinewavedrivebyhardware(2'ndgen.PMDMCU)DifferentModesofOperationDrivescanbeconfiguredtooperateinseveralmodes.Afullmotioncontrolloopcanincludeapositionloop,avelocityloop,commutation,currentloops,andapowerstage.Thedriveperformsseveralofthesefunctionsandthemotioncontrollerperformstheremainder.Single-axisPositioningModeAsingle-axispositioningperformsallmotionfunctionsincludingprofile(positioncommand)generation,positionloop,velocityloop,commutation,currentloops,andthepowerstage.Inthisconfiguration,themotioncontrolleranddrivehavebeencombinedintooneunit.Asingle-axiscontrollerisoftenthesimplestwaytocontrolasingleaxisofmotionbecausethecontroliscarriedoutasasingleunit.PositioningModeDrivesthatimplementthepositionloop,thevelocityloop,commutation,andcurrentloopsarecalledpositioningdrives.Positioningdrivesprovideallmotioncontrolfunctionsexceptprofilegeneration,whichiscarriedoutbythemotioncontroller.Themotioncontrollercalculatesthedesiredpositionsofallaxesinthesystemandtransmitsthosecommandstotheaxes.Mostdrivesareoperatedinthepositioningmode.VelocityModeWhenadriveisinvelocitymode,thedriveclosesthevelocityloop,performscommutation,andclosesthecurrentloops.Themotioncontrollergeneratesthepositionprofileandclosesthepositionloop.Theoutputofthepositionloopisavelocitycommand,whichisfedtothedrive.Velocitymodeisusedwhenanalogdrivesarecontrolledbymulti-axispositioners.TorqueModeWhenadriveisintorquemode,thedriveclosesthecommutationandcurrentloops.Themotioncontrollergeneratesthepositionprofileandclosesthepositionloop.Theoutputofthepositionloopisavelocitycommand,whichisfedtothedrive.Torquemodeisusedwhenanalogdrivesarecontrolledbymulti-axispositioners.Power-blockModeDrivesconfiguredtobepowerblocksprovidethepowerstageoutputand,sometimes,closethecurrentloops.Thepositionerclosesthevelocityandpositionloopsandprovidecommutation.Wedonotnormallyrecommendpowerblocksforbrushlesssystemsbecausethemaximumtorqueoutputofthemotordependsonhowwellthecommutationalgorithmsareimplementedinthemotioncontroller.Inmanycases,thepositionermanufacturerconfiguresthecommutationalgorithmsbasedonrulesofthumborinadequatetestdata.Toassurethatabrushlessmotorproducestheadvertisedtorquesandspeeds,werecommendthatmotorsbeoptimizedbasedonmeasuredtorquesatmanyspeedsusingadynamometerorequivalentequipment.RotatingTubeCutterMetaltubingfeedsoffaspoolandneedstobecutintopredeterminedlengths.Arotatingblademechanismisusedtocutthetube,andtheblademechanismmustspinaroundthetubemanytimesinordertocompletethecut.Thethroughputofthismechanismmustbemaximized,sothetubingconnotbestoppedwhilethiscutisbeingmade.Therefore,tomakeacleancutonthetube,theblademustmovealongwiththetubewhilethecutisbeingperformed.MachineObjectives:•Standaloneoperation•Movecuttingmechanismwiththetubingtomakethecutwithoutstopping•Simpleuserinterfacetosetdifferenttubelengths•HighaccuracyoncutMotionControlRequirements:•ProgrammableI/O•Programstorage•Positionfollowing•HighaccelerationandspeedApplicationSolution:Asingle-axisservocontroller/drivewaschosentosolvethisapplication.Anexternalencodermonitorsthetubeoutputandsendsthisinformationbacktotheservosystem.Theservosystemtracksthelengthofthetubethatisbeingfedpastthecuttingblade.Oncetheappropriateamountofmaterialhasbeenfedpasttheblade,theservoacceleratesthecuttingdeviceuptothespeedofthetube,sendsanoutputtostartthecutter,andthenfollowsthetubespeedexactly.PlasticInjectionMoldingAmanufacturerofinjectionmoldingmachineswantsasystemthatwillcloseamoldingchamber,applypressuretothemoldingchamberfor5secondsandthenopenthemold.Thisactionneedstobesynchronizedwithothermachineevents.Whenthemoldingchamberisopenthemotormustbe"parked"atadesignatedpositiontoallowclearancetoremovethemoldedpart.Themanufacturerwouldlikeanelectronicsolution(thisistheonlyhydraulicaxisonthecurrentmachine).MachineObjectives:•Electronicsolution；j•Computer-controlledsolution•4000N(900lbs.)forceMotionControlRequirements:•Positionandtorquecontrol•Seriallinktocomputerandotherdrives•AbilitytochangepressureanddwellApplicationSolution:ABDHX75E/230VbrushlessservodrivewithanMD3450/230Vmotorandryyy1.anETS80-BO4LAElectro-ThurstElectricCylinderwereused.TheBDHXservowaschosenbecauseitcanswitchbetweenpositioncontrolandtorquecontrolon-the-flywithoutinstabilityorsaturationandthen,whileintorquecontrolmode,directlycontrolsmotortorque.LabelingMachineBottlesonaconveyorrunthroughalabellingmechanismthatappliesalabeltothebottle.Evenspacingofthebottlesontheconveyorisnotrequiredandtheconveyorcanslowdown,speedup,orstopatanytime.MachineObjectives:•Accuratelyapplylabelstobottlesinmotion•Allowforvariableconveyorspeed•Allowforinconsistentdistancebetweenbottles•Pulllabelwebthroughdispenser•Smooth,consistentlabellingatallspeedsMotionControlRequirements:•Synchronizationtoconveyoraxis•Electronicgearboxfuntion•Hightorquetoovercomehighfriction•HighresolutionApplicationSolution:•RegistrationcontrolThisapplicationrequiresamotioncontrollerthatacceptsignalsfromtheencoderontheconveyorandreturnsappropriatecontrolcommandstotheencoder.Aservosystemprovidesthetorqueandspeedtoovercomethefrictionofthedispensingheadandtheinertiaofthelargerolloflabels.Aphotosensormonitorsthepositionofthebottlesontheconveyorandgivesthefeedbacktothecontroller.CapacitorWinderThecustomerwindsaluminumelectrolyticcapacitors.Sixreels,twowithfoilandfourwithpaper,areallwoundtogthertoformthecapacitor.TheprevioussystemusedaPLC,conventionalDCdrivesandcounterstoinitiateallmachinefunctions.Moreoverlengthlyset-uptimesandcaliberationproceduresandmaterialbreakagewerecommon.Thisapplicationsolvestheseproblemswiththeuseofappropriatecomponents.MachineObjectives:•Constantlymonitorthelinearfeedlengthofthepaperandfoilandcalculatetheconstantlychangingcapacitorcircumferenceasafunctionofthatlength.•AcompletemotioncontrolpackageisrequiredtoeliminatetheneedforaPLCandseparatemotioncard.•Reducetimeandcomplexityofset-up(toomuchwritinginprevioussystem)•ReducemachinedowntimecausedbymaterialbreakageMotionControlRequirements:•Following•TwoAxesofcoordinatedMotion•Mathcapability•AT-basedcontrolcardApplicationSolution:Precisemotioncontrolofthematerialfeedaxesdemandsclosed-loopservocommands.AnaloganddigitalI/Oactuatestheexternalcylinder.Aflexibleoperatorinterfaceisusedfordiagnosticsandalterationsinmachinefunctions.Alltheseareprovidedwithamachinecontroller.Toavoidmaterialbreakage,aconstanttensionisappliedonallreelsviaaircylinders.Moreover,asupportsoftwareallowstheusertomakehisowncontrollerprogramswhichresultsinthemachineworkingautomaticallytillthejobiscompleted.3Afour-axismotioncontrollerisrequiredforthisapplication.Theoperatorutilizesthecontroller'sjogfunctiontopositionthegrindingheadattheproper"sparkoff"height.Fromthispoint,thecontrollertakesoverandfinishesthepartwhiletheoperatorworksonothercriticaltasks.IncreasingthepartsrepeatibiltyandthroughputoftheprocessjustifiedthecostofautomatingthemachineSurfaceGrindingMachineAspecialtymachineshopisimprovingtheefficiencyofitssurfacegrindingprocess.Theexistingmachineissoundmechanically,butmanuallyoperated.Automatingthemachinewillfreetheoperatorforothertasks,whichwillincreaseoverallthroughputofthe__T']machineshop.MachineObjectives:•Allowflexibilitytomachinevariousparts•Easysetupfornewparts•Automateallthreeaxes•Keepoperatorinformedastoprogress•Low-costsolution•High-resolutiongrindingMotioncontrolRequirements:•PC-basedoperation•Multi-axiscontroller•OperatorinterfaceApplicationSolution:TransferMachineThisapplicationprovidesthesolutionandalsomonitorsdrillwearandbreakage.MotionControlRequirements:•Packageddrivecontroller•Highdutycycle•ComplexmotionprofileAstageofatransfermachineisrequiredtodrillseveralholesinacastingusingamulti-headdrill.Itrequiresaccuratepositioningandcuttingspeedwithafast-retractoptiontosetthenextcycle.Duetotheproximityofother_________equipment,thelengthinthedirectionoftravelisrestricted.•HighspeedApplicationSolution:Thecombinedrequirementsofhighspeed,highdutycycleandmonitoringofdrillwearmakeitnecessarytouseaservomotor.Sinceinabrushmotor,accessformaintenanceisdifficult,abrushlessmotorshouldbeselected.Moreover,aballscrewdriveisrequiredtoachievethehighstiffnesstogetherwithspeed.EngravingMachineAnexistingengravingmachinerequiresanupgradeforaccuracy,improvedcapability,andaPCoperatingenvironment.MachineObjectives:•Positionalaccuracyto0.001inches•Easy-to-use,open-loopcontrol•CNCmachiningcapability•Interface-to-digitizerpad•CompatibilitywithCADsystemsMotionControlRequirements:•Highresolution•Microstepping•G-Codecompatibility•IBMPCcompatiblecontrollerApplicationSolution:Afour-axismotioncontrollerresidesonthebusofanIBMcompatiblecomputer,allowingfullintegratedcontroloffouraxesofmotion.Theopen-loopmicrosteppingdriveswithprecisionleadscrewsgivehighpositionalaccuracy.ThissimpleretrofittotheexistinghardwaregreatlyimprovedsystemperformanConveyorApplicationTangentialdrivesconsistofapulleyorpinionwhich,whenrotated,exertsaforceonabelttomovealinearload.Theypermitalotofflexibilityinthedesignofdrivemechanics,andcanbeveryaccuratewithlittlebacklash.Inthisapplicationamachinevisionsystemautomaticallyinspectssmallpartsfordefects.Thepartsareplacedonaconveyor,whichiscontrolledtoallowthemtopassthroughthecamera"sfieldofviewataconstantvelocity.MachineRequirements:・Computer-controlledsystem•Highaccuracy•LowbacklashMotionControlRequirements:•Accuratevelocitycontrol•Linearmotion•Highresolution•ATbus-basedmotioncontrolcardApplicationSolution:Acomputercontrolstheentireinspectionmachine.Abus-basedcompatibleindexercardwasselected.Amicrosteppingmotor/drivesystemthatsupplied100oz-inofstatictorquewasalsochosentocompletetheapplicationRotaryIndexerThisapplicationinvolvesanewdesignforamachinetofillvialsinapharmaceuticalcompany.ThenewmachinereplacesanoldstyleGenevamechanism.Amicrosteppingmotorprovidessmoothmotionandpreventsspillage.Thevialshavenegligiblemassandmaybeignoredforthepurposesofmotorsizing.Alowload-to-rotorinertiaratiogentlymovesthevialsandfillsthem.MachineRequirements:・Smoothmotion•PLCcontrol•VariableindexlengthsMotionControlRequirements:•Smoothmotion•Sequenceselectcapability•I/Oforsequenceselect•ProgrammableaccelerationanddecelerationApplicationSolution:Theindexdistancemaybechangedbytheengineerwhoiscontrollingthemachinewithaprogrammablecontroller.MoveparameterswillbechangingandcanthereforebesetviaBCDinputs.Theindexercanbe"buried"inthemachineandactivatedwitharemoteSTARTinput.IndexingTableAsystemisrequiredtoplottheresponseofasensitivedetectorthatmustreceiveequallyfromalldirections.Itismountedonarotarytablethatneedstobeindexedin3.6degreeincrements,completingeachindexwithinonesecond.Forset-uppurposes,thetablecanbepositionedmanuallyat5rpm.Thetableincorporatesa90:1wormdrive.MachineObjectives:•Repeatableindexing•Remoteoperation•Tablespeedof5rpmMotionControlRequirements:•Joggingcapability•Sequenceselectfunctionality•CapableofremotedriveshutdownApplicationSolution:Themaximumrequiredshaftspeed(450rpm)iswellwithinthecapabilityofastepper,whichisanidealchoiceinsimpleindexingapplications.Inthisapplication,electricalnoisehastobeminimizedtoavoidinterferencewiththedetector.Thiscanbedonebyusingalow-EMIlineardriveorbyshuttingdownthedriveaftereachindex.ApplicationSolution:Themaximumrequiredshaftspeed(450rpm)iswellwithinthecapabilityofastepper,whichisanidealchoiceinsimpleindexingapplications.Operatingatamotorresolutionof400steps/rev,theresolutionatthetableisaconvenient36,000step/rev.Inthisapplication,itisimportantthatelectricalnoiseisminimizedtoavoidinterferencewiththedetector.Twopossiblesolutionsaretousealow-EMIlineardriveortoshutdownthedriveaftereachindex(withastepperdrivinga90:1wormgearthereisnoriskofpositionlossduringshutdownperiods)CapsuleFillingMachineThedesignrequiresamachinetodispenseradioactivefluidintocapsules.Afterthefluidisdispensed,itisinspectedandthedataisstoredonaPC.Thereisarequirementtoincreasethroughputwithoutintroducingspillage.MachineObjectives:•Increasethroughput•Nospillingofreadioactivefluid•Automatetwoaxes•PCcompatiblesystemcontrol•Low-costsolution•Smooth,repeatablemotionMotionControlRequirements:•Quick,accuratemoves•Multi-axiscontroller•PCbus-basedmotioncontrolcard•Open-loopstepperifpossible•High-resolutionmotor/drive(microstepping)ApplicationSolution:Themulti-axisindexerisselectedtocontrolandsynchronizebothaxesofmotionononecardresidingintheIBMPCcomputerandtheintegralI/Ocapabilityactivatesthefillingprocess.Alinearmotordrivesthehorizontalaxiswhiletheverticalaxisisdrivenbyamicrostepingmotorandaleadscrewassembly.Themulti-axisindexerisselectedtocontrolandsynchronizebothaxesofmotionononecardresidingintheIBMPCcomputer.AnadditionalfeatureistheintegalI/Ocapabilitythat"snecessarytoactivatethefillingprocess.Thehorizontalaxiscarryingthetrayofcapsulesisdrivenbyalinearmotor.Thesimplemechanicalconstructionofthemotormakesiteasytoapply,andguaranteesalongmaintenancefreelife.Theverticalaxisraisesandlowersthefillingheadandisdrivenbyamicrosteppingmotorandaleadscrewassembly.Alinearmotorwasalsoconsideredforthisaxis,butthefillheadwouldhavedroppedontothetraywithalossofpowertothemotor.Leadscrewfrictionandtheresidualtorqueofthestepmotorpreventsthisoccurance.TelescopeDriveTraditionalgeardrivesarecommonlyusedwithstepmotorsbutthefineresolutionofamicrosteppingmotorcamakegearingunnecessaryinmanyapplications.However,theyareusefulwhenverylargeinertiashavetobemoved.Inthisapplication,anastronomerbuildingatelescopeneedstotrackcelestialeventsataslowspeed(15degrees/hour)andalsoslewquickly(15degreesin1second).TraditionalGearDrivesTraditionalgeardrivesaremorecommonlyusedwithstepmotors.ThefineresolutionofamicrosteppingmotorSicanmakegearingunnecessaryinmanyapplications.Gearsgenerallyhaveundesirableefficiency,wearcharacteristics,backlash,andcanbenoisy.Gearsareuseful,however,whenverylargeinertiasmustbemovedbecausetheinertiaoftheloadreflectedbacktothemotorthroughthegearingisdividedbythesquareofthegearratio.Inthismannerlargeinertialloadscanbemovedwhilemaintainingagoodthan10:1).MachineObjectives:•Smooth,slowspeedisrequired--microsteppingwithElectronicVisc•Highdata-intensiveapplication--bus-basedindexer•Futurecapabilitiestocontrolatleast2axesofmotion•VisualC++interfaceApplicationSolution:A30:1gearboxisselectedsothat30revolutionsofthemotorresultin1revolution(360degree)ofthetelescope.Atrackingvelocityof15degreesign/hourcorrespondstoamotorspeedof1.25revs/hourorabout9steps/secona25,000steps/rev.Moving15degreesign(1.25revolutions)in1secondrequiresavelocityoftia-to-rotorinertiaratio1.25rps.Theinversesquarelawcausesthemotortosee1/900ofthetelescope"srotaryinertia.Theequationsaresolvedandthetorquerequiredtoaccesleratethetelescopeis455-oz-in.Thesteppulsesrequiredtodrivethmotorareobtainedfromalaboratoryoscillatorundertheoperator"scontrol.ApplicationSolution:A30:1gearboxisselectedsothat30revolutionsofthemotorresultin1revolution(360degree)ofthetelescope.Theinversesquarelawcausesthemotortosee1/900ofthetelescope"srotaryinertia.Theequationsaresolvedandthetorquecalculated.ThesteppulsesrequiredtodrivethemotorareobtainedfromalaboratoryoscillatorCircuitBoardScanningApplicationDescriptionAnOriginalEquipmentManufacturer(OEM)manufacturer'sX-RayScanningequipmentisusedinthequalitycontrolofprintedcircuitboardsandwaferchips.TheOEMwantstoreplacetheDCmotors,mechanicsandanalogcontrolswithanautomatedPC-basedsystemtoincreasethroughputandeliminateoperatorerror.Thehostcomputerwillinteractwiththemotioncontrolcusinga"C"languageprogram.TheoperatorwillhavetheoptiontomanuallyoverridethesystemusingajoysticAnOriginalEquipmentManufacturer(OEM)manufacturer'sX-RayScanningequipmentisusedinthequalitycontrolofprintedcircuitboardsandwaferchips.InthisapplicationanautomatedPCbasedsystemreplacestexistingsystemtherebyincreasingthroughputandeliminatingoperatorerror.Moreovertheoperatorhastheoptionofmanuallyoverridingthesystem.MachineObjectives:・2-Axisanalogjoystick•Joystickbutton•TravelLimits•EncoderfeedbackonbothaxesDisplayRequirements:•XandYpositioncoordinatesOperatorAdjustableRequirements:•Dimensionsofsampleundertest•(0,0)position--startingpointMotionControlRequirements:•AT-basedmotioncontrollercard•Replacevelocitycontrolsystem(DCmotors)andmechanicswithmoreaccurateandautomatedpositioningscheme•ManualJoystickControl•ContinuousdisplayofX&Yaxisposition•User-friendlyteachmodeoperationsApplicationSolution:ThesolutionofthisapplicationusestheexistingPCbyprovidingaPC-basedmotioncontrollerandtheAT6200tocontrolbothaxes.ThePCmonitoristheoperatorinterfacewhilea"C"programcontrolsthemachine.Theoperationbeginswithadisplayofamainmenuwhereaselectionismadebetweenthemodes--AutomatedTest,JoystickPositionandTeachNewAutomatedTest.TheAutomatedTestmodeallowsforpreprogrammedtestroutinestobedownloadedtothecontrollerwhereatestprogramisselectedforuse.ThJoystickPositionmodeenablesthejoystickforuse.ThethirdmodedownloadsateachprogramtothecontrollewherenewpositionscanbesetandthenstoredandrecalledinAutomatedTestmode.CircuitBoardScanning(ApplicationSolution)ThesolutionofthisapplicationusestheexistingPCbyprovidingaPCbasedmotioncontrollerandtheAT6400controlbothaxes.ThePCmonitoristheoperatorinterface.A"C"languageprogramcontrolsthemachines.Machineoperationbeginswithadisplaytotheoperatorofamainmenu.Thismainmenuletstheoperatorselectbetweenthreemodes:AutomatedTest,JoystickPositionandTeachNewAutomatedTest.InAutomatedTestMode,thePCdisplaysamenuofpreprogrammedtestroutines.Eachoftheseprogramshasstoredpositionsforthedifferenttestlocations.Thisdataisdownloadedtothecontrollerwhenatestprogrselected.Thecontrollercontrolstheaxistoahomeposition,movestoeachscanposition,andwaitsforscancompletionbeforemovingtothenextlocation.InJoystickPositionmode,thecontrollerenablesthejoystick,allowingtheoperatortomoveinbothXandYdirectionsusingthejoystick.TheAT6400waitsforasignalfromthePCtoindicatethatthejoysticksessionover.WhenTeachmodeisselected,thePCdownloadstoteachprogramtothecontroller(writtenbytheuser).Aftertheaxesarehomed,thecontrollerenablesthejoystickanda"positionselect"joystickbutton.Theoperatorjogsaxestoapositionandpressesthe"positionselect"button.Eachtimetheoperatorpressesthis"positioselect"button,themotioncontrollerreadsthepositionintoavariableandsendsthisdatatothe