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ตัวควบคุม C/ตัวควบคุมระบบเซอร์โวชนิดฝัง

Motion Controllers

EMBEDDED TYPE SERVO SYSTEM CONTROLLER

การควบคุมเซอร์โวเฉพาะที่สามารถทำได้ผ่านการเขียนโปรแกรมภาษา C

การควบคุมเซอร์โวที่มีการตอบสนองสูงสามารถใช้ร่วมกับตัวควบคุม C และโมดูลอินเทอร์เฟซ หรือคอมพิวเตอร์ส่วนบุคคลและบอร์ดตำแหน่ง


ข้อมูลทั่วไป

Speed-Torque Control

Speed control follows speed commands to keep the speed constant, and torque control follows torque commands to keep the torque constant.
The Simple Motion board can be used for the speed-torque control, such as unwinding or rewinding.
Positioning using absolute position coordinates can be smoothly performed even after switching back to position control because the current position is controlled during the speed-torque control.




Advanced Synchronous Control

The advanced synchronous control is software-based synchronous control as an alternative to mechanical control, such as gear, shaft, clutch, speed change gear, and cam. In addition, a cam is easily generated with cam auto-generation function. The synchronous control can be started and ended for each axis, allowing the synchronous control axis and positioning control axis within the same program.


Cam auto-generation


Cam data for a rotary cutter can be generated automatically simply by parameter settings of sheet length, synchronization width, cam resolution, etc.

Direct control 

The direct control is a function that controls servo amplifiers directly by transmitting set command positions for each operation cycle from a user program to the servo amplifiers.

·         The direct control can be combined with positioning control.

·         Control can be switched between the direct control and the positioning control.

·         A personal computer with a real-time operating system can perform fixed-cycle Motion control using interrupts at every operation cycle.

·         Thanks to the position command buffers of up to 16 phases, even non-real-time operating system (Windows® ) can perform at 0.5 ms (the fastest rate) cycle command operation; This enables further increase in accuracy in trajectory control.



(Note): Execute coordinate conversion of a parallel link robot with a user program.


Event history 

Events occurred on each slave device and servo amplifiers can be stored to the Simple Motion board. Information of "WRITE" operation to the program, error occurrence, etc. is listed chronologically, enabling an investigation of the cause of the error and a prompt restoration of servo amplifiers.



Software Development Kit  MELSOFT EM Software Development Kit

MELSOFT EM Software Development Kit is a development software package, supporting the engineering process from system design and programming to debug and maintenance for the Simple Motion board.

 MELSOFT EM Configurator - Every step in the engineering process from system design and programming to debug and maintenance, is supported by this software.

 MELSOFT MR Configurator2 - Primarily, tuning, monitoring, and diagnosis are easily performed with this software by being connected to a servo amplifier.

 API library - The API library is an add-on library which uses functions (method) and labels (member) of controller and axis classes, and enables easy programming with Visual C++®.

 PCI Express® device driver - The PCI Express® device driver is software for a user program to gain access to the Simple Motion board via PCI Express®.


(Note): Contact your local sales office for the latest version of Software Development Kit.


Development and Debugging Environments

A user program is created by adding the API library (for motion control) to a project of Microsoft Visual Studio®.
● INtime® and RTX (real-time operating system) are supported.

(Note): Contact your local Mitsubishi Electric office for more details.


(Note): OS and the development environment are not included.


 MELSOFT EM Configurator (Setting Tool for Simple Motion Board)



 API library (C++ motion class library)

With the C++ motion class library, a program is created using functions (method) and labels (member) of controller and axis classes, and other classes.

·         The class library creates the program with high readability.

·         Coding time is reduced with Microsoft Visual Studio® IntelliSense®.

·         Compatibility with event-driven programming is improved by specifying any bit data as a condition of interruption.

·         The library with the same interface specifications as PLCopen® Motion Control FB, is available and suitable for fixed-cycle programming.

[Conception diagram of class types in C++ motion class library]





CC-Link IE Field Network Servo Amplifier MR-J4-GF


·    More details


CC-Link IE Field Network servo amplifiers achieve an optimal solution and improve productivity in combination with the Simple Motion board.

·         Industry-leading basic performance
Industry-leading levels of servo amplifier basic performance shorten a machine cycle time.

·         Advanced servo gain adjustment
The advanced vibration suppression control function is easily used for maximizing your machine performance.

·         A wide range of product series and capacities
From rotary to linear and direct drive motors, a wide range of servo motors are available, significantly improving your machine performance.

·         Preventive maintenance
The data inside a servo amplifier are read via the network, and used for preventive maintenance, such as machine diagnostics.


Control mode

Two types of modes are available according to your needs:

·         Motion mode for a wide range of motion control functions, such as multiple-axis positioning, synchronous control, etc.

·         I/O mode for single-axis positioning



รายการผลิตภัณฑ์

C Controller Interface module

โมดูลอินเทอร์เฟซของตัวควบคุม C จะกำหนดค่าระบบเซอร์โวที่มีการตอบสนองสูงร่วมกับตัวควบคุม C



Position board

ฝังใน PC บอร์ดตำแหน่งจะกำหนดค่าระบบเซอร์โวที่มีการตอบสนองสูง

ข้อมูลจำเพาะ

Functions List

 Simple Motion board
MR-EM340GF 
Maximum number of control axes
(virtual servo amplifier axis included)
16 axes
Servo amplifier connection systemCC-Link IE Field Network
Maximum distance 
between stations [m(ft.)]
100(328.08)
Connectable servo amplifierMR-J4-GF , MR-J4-GF-RJ
Operation cycle
(operation cycle settings)
0.5 ms, 1.0 ms, 2.0 ms, 4.0 ms
Engineering EnvironmentMELSOFT EM Software Development Kit
Control modesPositioning, Trajectory control (linear, arc, and helical), Speed control, Speed-torque control
Control unitmm, inch, degree, pulse
Number of positioning data600 data/axis
Acceleration/deceleration processTrapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Manual controlJOG operation, Manual pulse generator, Inching operation
Expansion controlDirect control
Functions that change control detailsCurrent value change, Target position change function, Torque change function, Speed change function, Override function, Acceleration/deceleration time change function
Home position return methodDriver home position return method
Auxiliary functionsForced stop function, Hardware stroke limit function, Software stroke limit function,
Absolute position system, Amplifier-less operation function, Unlimited length feed,
Optional data monitor function, Mark detection function, Flash ROM backup, M-code output function,
Event history function, Digital oscilloscope function, Cam auto-generation function
Number of occupied I/O points32 points (I/O allocation: Intelligent function module, 32 points)
Current consumption [A]12 VDC0.4
3.3 VDC0.6
Mass [kg]0.13

Performance specifications of CC-Link IE Field Network

Simple Motion module
MR-EM340GF 
Maximum link points per networkRX16k points (16384 points, 2 kbytes)
RY16k points (16384 points, 2 kbytes)
RWr8k points (8192 points, 16 kbytes)
RWw8k points (8192 points, 16 kbytes)
Maximum link points
per station
Master stationRX16k points (16384 points, 2 kbytes)
RY16k points (16384 points, 2 kbytes)
RWr8k points (8192 points, 16 kbytes)
RWw8k points (8192 points, 16 kbytes)
Local stationRX2k points (2048 points, 256 bytes)
RY2k points (2048 points, 256 bytes)
RWr256 points, 512 bytes
RWw256 points, 512 bytes
Intelligent
device station
RX2k points (2048 points, 256 bytes
RY2k points (2048 points, 256 bytes
RWr256 points, 512 bytes
RWw256 points, 512 bytes
Remote
device station
RX128 points, 16 bytes
RY128 points, 16 bytes
RWr64 points, 128 bytes
RWw64 points, 128 bytes
EthernetCommunication speed1Gbps
Connection cable1000BASE-T Ethernet cable (Note-1): category 5e or higher (double shielded/STP) straight cable
Maximum distance 
between stations 
[m(ft.)]
100(328.08) (conforms to ANSI/TIA/EIA-568-B (category 5e))
TopologyLine type, star type, line/star mixed type
Overall cable
distance
Line type [m(ft.)]12000(39370.08) (When 1 master station and 120 slave stations are connected)
Star type(Note-2)Depends on system configuration
Maximum connectable stations per network121 stations (1 master station. 120 slave stations)
Maximum number of networks239

(Note-1): Use the cables recommended by CC-Link Partner Association for CC-Link IE Field Network.
     CC-Link IE Controller Network cables are not compatible with CC-Link IE Field Network.

(Note-2): A switching hub is required for star topology.

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