Motion Composer

Easy to use with extensive diagnostic tools, digital scope, and status utility

Shortens development time and includes multiple languages for development

Flexibility – use with any Aerotech controller:
A3200, Ensemble, or Soloist

Introduction
Aerotech’s latest motion controller release focuses on ease of use for the programmer, shortens development times compared with other tools, and provides the flexibility to use the tools or controller most familiar to programmers. A complete Integrated Development environment and a comprehensive .NET motion library provide classes for motion, I/O, status, and diagnostic information. Program in Visual Studio and use the .NET library, or use the Motion Composer (IDE) to develop code with English-style commands or G code. A LabVIEW® VI library is available for NI users, while a complete C library is available for those using VB6, C++, or C.

Motion Composer Suite
The Motion Composer Suite includes the Motion Composer IDE, Digital Scope Configuration Manager, Console, Status Utility, and Firmware Loader. Optional modules include the CNC Operator’s Interface, Motion Designer, Dynamic Controls Toolbox, and Enhanced Throughput Module. The Motion Composer Suite can be used with the Aerotech A3200, Ensemble, or Soloist controllers, and the features and benefits of each module are summarized below.

Key Function of Each Module
The Motion Composer is an environment for developing and debugging AeroBasic programs for controllers, and also functions as a simple operator's interface for the developer. The Motion Composer can be used to perform the following tasks:

• Write and debug programs – use breakpoint, step into, step over, colorized programming, and standard program control (start, stop, pause, compile, etc.)

• Program flow control – If constructs, Looping constructs, Subroutines, Command basic motion

• Inspect diagnostic information

• Perform basic configuration

Configuration Manager (click to zoom in)

Configuration Manager
Use the Configuration Manager to modify parameter files and set the active parameter file, as well as connection settings and program automation. All parameters are explained in the integrated Help and presented in an organized tree structure. A variety of calculators are provided to make setup quick and easy.


Digital Scope
The Digital Scope is a system analysis and tuning application that allows the user to optimize system performance using a collection of advanced tuning tools and features. System analysis tools allow plotting and graphical analysis of system data, while tuning tools provide automatic calculation of servo loop and feedback device parameters.

The Digital Scope application includes a variety of utilities that allow the user to perform
analysis and tuning operations including:

• Collecting and plotting various signals including position,
velocity, and position error on multiple axes

Digital Scope (click to zoom in)

• Viewing multiple overlapped one-dimensional and two dimensional plots

• Graphically examining collected data using cursor and zooming tools

• Executing motion commands while collecting data

• Computing the discrete Fourier transform of any of the collected signals to identify system characteristics

• Automatically tuning the servo loop to achieve the desired system performance using the Autotune feature

• Calculating and enabling multiple digital filters to improve system performance

• Performing loop transmissions on each axis that allow advanced analysis and optimization of servo-loop tuning and performance

• Automatically tune an amplified sine encoder feedback device and view the results

Loop Transmission (click to zoom in)

• Conditional plotting to configure plots collected in the Digital Scope to display data differently based on input from the controller

• Data collected from an axis can be set to display as a different color, or not display at all, based on the state of the controller’s digital outputs and inputs. This is very useful when plotting tooltip trajectories during cutting or machining times.

• Data collected during run can be plotted and each line segment is linked to the program line generating the command. This makes increasing the throughput of the machine very easy on a line-by-line basis rather than just slowing down the entire process.


Loop Transmission

• Measure the stability of the system with the Loop Transmission tool

• Graphically manipulate the Gain and Phase curve to change gain or phase and insert filters to optimize system performance


Operator Interface

Operator Interface (click to zoom in)

The Operator Interface provides a traditional CNC look and feel for operating a machine running G code. The interface provides a multi-axis readout with position, velocity shown in user units, immediate command, MFO, program scan during execution, modal status, and a multi-axis jog screen. Typical cycle start, stop, feedhold, and system stop buttons are included. The operator can open and load a new program, watch status, and manually control the machine. All buttons are designed for use with a touchscreen or a mouse.









Status Utility

Status Utility (click to zoom in)

The Status Utility is a debugging tool that graphically displays the status of all 32 axes and all controller tasks. Use this for initial machine setup and testing. It displays the state of drive signals including the axes’ hardware limits, drive enables, drive faults, probe input, Hall effect, and encoder feedback signals.

Console (click to zoom in)

Console
Console is a command line interface used for low level system hardware debugging. It reads commands from text files, similar to batch files, so that you can execute multiple Console commands as if they were one command. It also provides a status and integrated Help.

Firmware Loader (click to zoom in)

Firmware Loader
The Firmware Loader shows all of the drives connected to the system upon opening or refresh and determines if a new version of firmware should be loaded on the drive to maintain compatibility with Motion Composer and the Machine license loaded on the PC.

A3200 Help (click to zoom in)

Help Files
Help files are separated into the Motion Composer Suite programming Help file and the .NET and C library Help files. This limits the amount of unnecessary information to read when developing in one environment. Only licensed software modules are shown in the Help file to provide clarity for the user.

Programming Help (click to zoom in)

Optional Motion Composer Modules– Dynamic Controls Toolbox

Dynamic Controls Toolbox (click to zoom in)

The Dynamic Controls Toolbox provides control algorithms that increase system performance such as settle time, accuracy, in-position stability, and/or velocity stability. These include Harmonic Cancellation, Threshold and Dynamic Gain Scheduling. Harmonic Cancellation includes a set of controller-level algorithms that are designed to improve performance by reducing the tracking error due to sinusoidal reference commands, motor force ripple (or other position-dependent disturbances), and cross-axis disturbances such as those created in a linear axis by an unbalanced rotational axis.

Threshold Gain Scheduling is a controller-level algorithm that adjusts the servo-loop gains based on a specific input: current or velocity either commanded or feedback. Two threshold zones are available.

The Dynamic Gain Scheduling algorithm can improve position performance and reduce cycle times. The algorithm changes the PID gains based on the servo error vector.





Enhanced Throughput Module (ETM)

Enhanced Throughput Module (click to zoom in)

The ETM improves machine throughput by compensating for the effect of frame vibration on the tooltip. It provides for prefiltering input signals where necessary, and is available for single- or multi-axis operations.