| POSITION
SYNCHRONIZED OUTPUT
This
function is used to precisely set digital outputs as a function of motor
positions in one or two dimensions. Rather than operate as a background
task in the NMotion® SMC, this function is off-loaded to separate hardware
on the NDrive for fastest execution and maximized accuracy.
FAST POSITION CAPTURE
The Automation 3200 system has the capability to store motor positions
based on the transition of a digital input. This high-speed position
capture capability, with a latency on the order of 50 nanoseconds, is
useful for applications where the axis positions must be closely correlated
to an external event such as a touch probe in a coordinate measuring
machine or a transducer reading on an ultrasonic inspection system.
GANTRY
MODE
NMotion
SMC has built-in gantry control algorithms. Complex gantry control is
reduced to a few simple commands. Single feedback-dual motor or dual
feedback-dual motor configurations are easily controlled.
ARBITRARY
PATH GENERATION
NMotion SMC supports arbitrary path generation where the user specifies
the position, velocity, and time. The controller can then perform a
linear or spline interpolation between the points to provide an ultra-smooth
contiguous path. Multiple axes motion can be coordinated to create an
arbitrary path in multidimensional space.
|
JOG
& OFFSET, JOG & RETURN
Multi-axis coordinated motion can be halted at any time and the axes
can be jogged off of the machine path. The axes can continue motion
from the offset tool path or return to the interrupted motion point
and continue along the original program path.
HIGH-SPEED
REGISTRATION
For packaging and label printing applications, NMotion SMC supports
high-speed registration operations where an axis can move a predefined
distance based on the transition of a digital input. The registration
move can be superimposed over motion in progress to support rotary-knife-style
applications. The registration “distance” can also be monitored
and modified to adjust for variations in material length.
KINEMATICS
The NMotion SMC can execute complex inverse kinematics equations within
the flow of the trajectory generation. Application programs can be created
in X/Y/Z part space and seamlessly transformed into joint coordinates.
For maximum flexibility, transformations are written in the C programming
language and are executed within the real-time operating system. This
architecture permits the integration of specialized application specific
transformations to meet the requirements of almost any robotic-type
actuator.
|
AXIS
CALIBRATION
Click
to enlarge
Axis
calibration is a way to compensate for repeatable mechanical errors
in a mechanism such as a ball screw. A lookup table onboard the NMotion
SMC is used to make corrections based on measured data. Backlash correction
values can also be entered to minimize reversal errors.
ON THE FLY END-POINT MODIFICATION
Click
to enlarge
The NMotion SMC trajectory generation software supports modification
of move targets on the fly. These modifications can be given at any
time during the motion profile and as often as required by the application.
3D ERROR MAPPING
Aerotech’s advanced 3D error mapping allows accurate positioning
in an XY plane with an XYZ positioning system. A lookup table contains
error data for three axes as a function of two of the axes. |
Software
Motion Controller