Industrial Robots
Intelligent Robot
Embedded equipment
Motion Control
Technology
High-speed
distributed control equipment
Intelligent
Mechatronics equipment
1.1 Configuration of mechatronics equipment
Ø OP Unit
Operation Panel /
Ø Touch Screen
Ø Personal Computer Display
Machine BODY
Ø CNC
Ø Motion Controller
Ø PLC
Host controlle
r
Drive con
troller
Ø Motor Driver
Ø Other drive controller
Ø Motor
Ø Hydraulic cylinder
Ø Position / speed sensor
Ø Proximity sensor
Ø Mark Sensor
Control system
Ø Valve
Driving devic
Ø Other Actuators
e
Ø Temperature Sensor
Ø Vision sensor
Ø Other Sensors
Sensor
Drive system
1.2 Demand change of Mechatronics equipment
- Synchronization control through constant On / Off time control
- Prediction and Monitoring of Error of Dispense Fluid Volume
- Flow rate analysis and control
- I / O control using distributed communication (DeviceNet, ProfiBus)
- Control and status monitoring analysis by integrating chip (microprocessor) in all device
s
- Real-time data analysis
- Error notification due to mechanical aging
- Provide analysis data on the cause of error in the system
- Distributed system control and data collection using networked communication technol
ogy
1.3 Changes of drive system
Simple mechanical system Oil, pneumatic system
Ø Composed of mechanical
structure
Ø Simple control
Electric servo system
Ø Control by sensor and valve
Ø Electric Servo System
Ø System configuration possible
Ø Electronic control
Ø Low precision control
Ø Easy to configure complex
Ø Hydraulic and pneumatic
equipment required
system
Ø High precision control
Ø No additional equipment
required
Ø Easy to change system
1.4 Changes of control environment
Mechanical Electronic
Pneumatic cylinder
q Small, lightweight
q Cheap price
Hydraulic cylinder
Cam
q Low Speed
q High power output
Ball Screw
Linear Slider
q High speed
q Precision Position Control
Linear Motor
q High-speed drivin
q High precision po
Servo Motor
1.5 Changes of Control Environment - Evolution of In
dustrial Network Communication
Internet TCP/IP
SynqNet
10~100Mbps
EtherNet
Mechatro Link2
HMI UNIT
CC Link2
Sercos
ProfiBus
DeviceNet
ModuBus
1~10Mbps
System controller
(PLC,PC)
1~10Mbps
Motion controller
10~100Mbps
I/O modules
Signal processing
module
Motor controller
(Servo, step, inverter)
Relay,
drive units
Sensors
Servo Stepping Induction
motor
motor motor
®
®
®
®
®
Valve digital (motion) control and flow measurement monitoring Microprocessor
application technology
Temperature control technology
RS232 / 422/485, TCP / IP, DeviceNet, ProfiBus communication technology
Microprocessor application technology for data acquisition and control using
real-time OS (embedded)
Distributed control technology (RTEX, MechatroLink, SSCNet, EtherCAT)
Capable of understanding machine operation
Capable of motion control system development using C
language programming
Real-time OS (embedded software) technology
Communications (such as TCP / IP) with protocol analysis and
application skills
±
Programmable microprocessor for valve control
±
Applicable to flow measurement and flow control microprocessor
±
Program application technology capable of real-time temperature control
±
Individual valve / flow rate / sensor control and system application technology
±
RS232 / 422/485, TCP / IP communication technology applicable to valves, robots, flow meter
s and sensors
±
Valve control using distributed communication (DeviceNet / ProfiBus) and microprocessor ap
plication technology capable of real time flow measurement
±
Data collection and control technology using real-time OS
±
Embedded System Technology
±
Application technology of distributed control (RTEX, MechatroLink, SSCNet, EtherCAT)
±
±
±
±
±
±
Understand the operation of the machine
Configure the controller using C language
Embedded Software Technician
Application using real-time OS
Communication Applicable by using RS232 / 422/485, TCP / IP, FieldBus
Motion control system programming
Real-time OS Understanding and Application
- Understanding real-time OS concept
- Understanding real-time OS operation structure
- Real-time OS built-in function application and synch
ronization program
PID controller application
RS232 / 422/485, TCP / IP communication technology
development
- Understanding and application of RS232 / 422/485
protocol
- Understanding and application of TCP / IP protocol
DeviceNet, ProfiBus Distributed Control Technology De
velopment
- Understanding of DeviceNet, ProfiBus protocol and
application of input / output function
2.1 Development of control system
Hardware Wiring, Closed
System
Use programmable Logic
and Closed Hardware
General Motion Control
Pioneering role in 70’s
Use Logic Control Software
and PC Hardware
General Motion Control
Pioneering role in 90’s
2.2 Comparison between PC and PLC control
PC
PLC
Hardware
Universal Standard Hardware
Depend on manufacturer de
dicated hardware
Interface / Network
Standard / Open
Depend on manufacturer
Programming / Deb
ugging
Built-in
PC / Dedicated program tool
required
Backup / Restore
Upper monitoring fu
nction
Built-in networking function uplo
ad, download, backup and restor
e
Use manufacturer-dependen
t network and software
Performance per cos
t
Rapid (doubling every 12 to 18
months)
Slow
Database
Centralized / common database f
or control, HMI, SCADA
Extra / Fractional Database
Technology
High-tech semiconductor technol
ogy,
1000 instructions / 5us processin
g speed
Development speed depend
on manufacturer,
1000 instructions / 800us pr
ocessing speed
Upgradability
Advanced compatibility allows ha
rdware upgrades without softwar
e changes
Much time / cost and techno
logy requirements
2.4 Comparison between PC based control and PLC contr
ol
2.5 Current PLC based control system
2.6 PC based control system with flexible structure
3. Next-generation PC-based control system – OpenContro
l
PLC: Separate HMI (monitoring / process screen) and PC for Loader required
OpenControl
- Starting with the intention to control the role that PLC controls by general-purpose PC
PC based control software
- Flowchart, ladder language programming
- Development and execution of control program and HMI screen in one PC
- Real time monitoring, control, and monitoring system
=> Embedded HyperKernel (Hard Real Time OS)
=> Introduction of Profibus DP network
=> Paragon (HMI / SCADA software)
l ms scan time
30 ms Analog Data Processing
3.1 OpenControl
- Flowchart, ladder language programming
- Composed of "Condition Block + Process Block + Sub Chart"
3.2 OpenControl Architecture
4.1 Evolution of control system equipment
PLC based control system
VME based control system IPC based control system
VME Pentium System
Compact PCI based control system
Embedded Based Control System
(Independent control system)
4.2 VME System (1)
VMEbus stands for Versa Module Eurocard, which is the IEEE1014 certified Mot
orola VERSAbus for MC68000 microprocessor, which is a Euro card.
The specifications of VMEbus (D08 / D16 / D32) which are generally known at
present are described in Revision C.1
Currently revised to Revision D (IEEE1014-87) or VME64
4.2 VME system (2) - CPU board
-Real-time multitasking OS
VRTX, VxWorks, QNX,
Windows NT + RTX ... .
4.2 Example of VME system application - Logic Handle
r
Host PC
RS232
UDP
CPU 보드
Handy terminal,
ThermoControl
통신 보드
Sensors
PIO 보드
Stepping,
Servo Motors
MOT 보드
MOT 보드
MOT 보드
MOT 보드
Applied VME System
VME- BUS(Backplane)
Logic Handler
TTL 보드
TESTER
COMPOBUS
Other boards
Remote IO
Modules
4.3 Compact PCI System (1)
CompactPCI is an industrial bus developed by adapting st
andard PCI signals to 3U or 6U standard of Euro card.
It was proposed by Ziatech in 1994 and standardized by PI
CMG (PCI Industrial Computer Manufacurer's Group).
It is applied to high-speed communication applications s
uch as servers, routers, converters and switches with high
bandwidth.
CompactPCI offers eight slots, twice as much as that offer
ed by conventional PCI, and is more suitable for industria
l applications.
More slots available with PCI-PCI Bridge.
Cost - Much cheaper than VME based boards.
Real-time multi-tasking OS can be installed.
Compared to VME system, program developer convenienc
e.
4.3 Compact PCI System (2)
BC3R- CompactPCI 3U FormFactor AnyBusBase Carrier Board
Ejector/Handler
Power LEDs
SUB SUB1
Status SUB2
SUB3
LEDs SUB4
Connector A
Control signals
J2
J1
Address BUS
PCI Target Chipset
DataBUS
Data BUS
- Bus Control
- Address Decode
- Interrupt Control
- Sync
COMPACTPCI BUS
Connector B
J2
J1
DCOM1
DCOM2
- AnyMotion
-AnyDIO
-AnyAIO
-AnyField
-AnyCOM
DCOM Ports
External Connectors
AnyPack
Modules
J4
J3
Reset S/W
CompactPCI J1 Connector
4.3 Compact PCI system (3)
5.1 Motion control technology applications
Human / Living Service
Household robots
Medical equipment
Elevator
Defense
Car
Aviation / SpaceBuilding Automation
Logistics Automation
Factory Automation
sor
Drive
Sen
Motor
Exercise equipment
Machine Service
Semiconductor equipment
Industrial machinery
Robot
Machine tools
5.2 Control system equipment - Demand technology of GMC mark
et
Centered on high-speed, high-precision motion control
Mechatronics Precision Controller GMC field required technology
Precision motion
control technology
Open Systems
Technology
GMC market
High-speed distributed
control technology
Highly integrated
design technology
5.4 Control system equipment - Precision control technology R & D Tr
ee
Multi-Axis Linear Synchronous Control Technology
Motion control technol
ogy
Piezoelectric linear motor control technology
Torque and Force control technology
Driver Integrated Control Technology
Precision control technology
PC-based motion control technology
Motion Platform Tech
nology
High-speed distribu
ted control technolo
gy
PLC-based motion control technology
SoftPLC, SoftCNC
Embed-based Motion Control Technology
With independent controller
Vision integrated motion control technology
I / O Level: Fieldbus
M / C level: SERCOS, B *
E / C level: Ethernet / IP
CPCI Extended / PXI
Open Systems Tech
nology
Windows-based embedded system
Non-Windows-based embedded system
Open S / W
WinCE
RT-Linux, uC-Linux
Active-X, OPC Server
Connection technology
CAMC-IP4x
CAMC-PIEZO
Highly integrated de
sign technology
CAMC-DSPSoC
CAMC-OTAR
CAMC-RoboCon
Next-generation growth engine RFP
5.5 Configuration of control system equipment
(1)
Servo system
Operation / Indicator
q CRT
q LCD
q Touch Screen
Host controller
q CNC
q Motion controller
q PLC
Step driver
Inverter
Servo driver
Step motor
Encoder
Inverter motor
Encoder
Servo Motor
Encoder
q PC
Additional boards
q DIO board / AIO board
q Vision Board
q Communication board - RS232C / RS422 / RS485, USB, Ethernet
q Industrial Network Communication (Field IO)
5.6 Configuration of control system equipment
(2)
5.7 Control system equipment - Recent market dema
nd technology
6.1 Motion Control Chip
6.2 Motion Control Chip Market Stat
us
q Motion control chip field application status
Division
Korea
Other c
ountry
Manufacturer
Model name
Remarks
2axis
4axis
AXT
CAMC-IP
CAMC-QII
Samsung Electronics a
nd others
NOVA(Japan)
MCX312
MCX314
IPS system and others
Pulse Motor
(Japan)
PCL6025
PCL6045
HiverTech,
Adlink,Comizoa
COSMO
(Japan)
PMC520
PMC540
Future Industry
KYOPAL
(Japan)
PMD(USA)
Samsung Techwin
MC2120
MC2140
MC58420
PID control tunable
Servo control
6.3 Motion Control Chip Technology Compariso
n
6.4 Motion Control Board (1) – Market dema
nd
q Motion Control Board Field Application Status
6.5 Motion Control Board (2)
q Motion Control Board Field Application Status
Manufacturer
Model name
AXT
N-404(4axis)
N-804(8axis)
Remarks
CAMC-QI
Distributed motio DSP+FPGA
n module
Samsung
MMC Series
DSP TMS320
Fastech
FAS-PCI-4016X
(4axis, 16/16 IO)
One Board Type
(DSP + PCL6045)
COMIZOA
COMI-LX504(4axi One Board Type(PCL6045)
s)
6.6 Motion Control Board (3)
q Motion Control Board Field Application Status
Manufacturer
Model name
Remarks
Hiver Tech(Japan)
CPD Series
PCL6045
Pulse motor(Japan)
PPCI7443
NPMC6045-4104
PCL6045
ADLINK(Taiwan)
PCI/cPCI/-81xx
PCL6045
PMD(USA)
Navigator Series
Magellan-PCI
MC2140/MC2340
MC58420
MEI(USA)
ZMP-SynqNet
Motion Engineeri XMP-SynqNet
ng
MPC8245(64bit)
SHARC DSP(32bit)
DELTA TAU(USA)
DSP+LSI
PMAC/PMAC2
6.7 Motion Control Board (4)
Motion controller: Servo / step drive for servo / step / linear motor co
ntrol
A device for setting a position / speed / torque comman
d
J1J2
I/O module
Baseboard
Motion
module
6.8 Types and characteristics of motors
structure
category
EncoderBrush
Permanent magnet
qDC servo motor
Characteristic
Usage
Advantages Disadvantages
§ Conveying machine
ØSimple control ØMaintenance required
structure
ØDust and noise generation
ØHigh power rateØDifficult to rotate at high speed
Rotor winding
q Permanent magn ØConvenient maintenanceØNeed a position sensor§Machine tools
§robot
et type AC servo mo ØExcellent environmental
§Industrial machinery
tor
resistance
§Semiconductor equipmen
ØHigh efficiency, small size
and light weight
ØHigh power rate
Permanent magnet
Stator winding
Encoder
Stator winding
Cage rotorqHigh-speed
Encoder
§Machine tools
ØConvenient maintenance
ØControl is complex
spindle motor
§Large Plant
ØExcellent environmentalØLow efficiency
qVector control motor resistance
ØNo electrostatic braking
qInduction type
ØHigh speed, large torque
AC servo motor
ØThe structure is solid
q Stepping motor
q SRM
ØSimple control structure
ØHigh torque ripple
§OA / small equipment
ØSmall, low cost
ØLow precision
§Conveying machine
ØHigh stopping torque ØHigh vibration and noise
6.9 Defining Servo System
The etymology of SERVO: serve
Definition of SERVO: A system that faithfully performs according to a c
ommand
1) Be sure to receive commands from the upper level.
2) Built-in feedback control system
Command
The drive
control section
The driving
unit
The sensor unit
(Encoder)
6.10 Configuration of AC Servo Motor Control Syst
em
Contact I/
O
CPU
RAM
ROM
(General purpose, hi
gh speed)
Various protection
circuits
3 phases
200~22
0V
Or
1 phases
200~22
0V
DIOD
E
User MMI
ASI
(Motor control only)
C
Gate
Driver
IPM Mod
ule
A/D
Converter
Servo M
otor
Encoder
6.12 Interface method and control comman
d
How to interface control command - Analog voltage, contact, pulse train, communication use method.
Select according to application and system characteristics
Interface method
Purpose of use
vInput: speed, torque command
vOutput: Speed, Position, Torque
vInput: Run command
vOutput: Operation status
vInput: Position pulse command
vOutput: Encoder signal
vData setup and monitoring
vServo operation
(high speed field bus)
Connecting unit
q CNC and motion controller
q PLC
q Touch Screen
q Personal Computer
q Synchronous sensor
- Encoder
- Taco Generator
- Other sensors
q Dedicated actuator
- Digital switch
- 7 Segment LED
- LCD
q BUS Communication Unit
6.13 Servo Drive Comparison
Manufacturer
Model name
Maximum speed / input
pulse frequency
MISUBISHI
MR-J2S /MR-E
MELSERVO-J3
3000rpm, 500Kpps
3000rpm, 1Mpps
YASKAWA
Sigma-II
Sigma-III
3000rpm, 500Kpps
3000rpm, 1Mpps
PANASONIC
MINAS-A
MINAS-A4
3000rpm, 500Kpps
5000rpm, 2Mpps
SAMSUNG
CSD-BX2
3000rpm, 500Kpps
LG-OTIS
FDA-5000
3000rpm, 500Kpps
METRONIX
AP Series
3000rpm, 500Kpps
6.14 Servo drive control
The servo drive receives the position command from the motion controller
and feeds the desired current to the coil so that the servo motor moves by t
he determined position,
1. Torque control: Servo drive is an amplifier that amplifies the current
to the motor, so all control is performed by the host controller
2. Speed control: It is inconvenient to use PID control in servo drive
and host controller.
3. Position control: Servo drive performs all PID control while upper
controller receives position and velocity profile information as pulse
and controls motor. Simple to use but controllable characteristics are
worse than torque and speed control.
7.1 Building up PC-based motion control syste
m
Motion controller
OUT
Field parts
Servo Drive
IN
I / O module
MITSUBISHI
Motion module
AC IN
DC IN
Power
Sensor1
Encoder
DC OUT
Sensor2
DC24V Power Supply
220V 20A
Circuit breaker
Servo Motor
AC IN
Relay1
AC 220V
Relay2
7.2 Embedded Control Motion System Producti
on
MITSUBISHI
C
N
1
A
C
N
1
B
A
X
I
S
PC
FIELD STATION Micro
RS232
AXT
C
N
2
Encoder
U,V,W,E
AC servo motor
+ELM , Home , -ELM
7.3 Embedded Control Motion System Configuration Diagr
am
7
4
H
C
5
7
3
CHA
CHB
CHC
CHD
CHE
CHF
CHG
START
P
H
O
T
O
C
O
U
P
L
E
R
7
4
H
C
1
4
RTN
A+ A-
BRAKE
PALM
RUN
CHEND
TX232
RX232
P
H
O
T
O
.
.
7
4
H
C
1
4
CAMC-QI
MGND
EXPP
EXMP
MARK
UIN0
UIN1
UOUT0
AC SERVO MOTOR
+
ENCODER
STOP
STBY
ATMEGA
128
2
9
C
2
5
6
P
H
O
T
O
C
O
U
P
L
E
R
B+ B-
Z+ Z-
M
A
X
2
3
2
UOUT1
2
6
L
S
3
2
PELM
7
4
H
C
1
4
P
H
O
T
O
.
.
FEED
ORG
NELM
ESTOP
74HC14
NRX
PHOTOCOUPLER
PHOTO..
26LS31
TX1
RX1
A+ A- B+
B-
Z+ Z-
ALM
INP
ALMC SVON PULS+
< AC SERVO MOTOR DRIVE CONNECTER >
PULS- DIR+ DIR-
M
A
X
4
8
8
NTX
PRX
NRX
7.4 Connection between AXT motion controller and LG
servo driver
Motion Controller
PULSE+
1
2
PULSE3
DIR+
DIR4
A+
5
6
A7
B+
8
BZ+
9
10
ZSVON
11
12
INP
13
ALMC
14
ALM
PCOM
15
16
NCOM
Servo Driver
11
PPFIN
10
PFIN
9
PPRIN
12
PRIN
PA0
7
/PA0
32
6
PB0
31
/PB0
PZ0
5
/PZ0
30
18
SVONEN
22
INSPD/INPOS
38
ALMRST/CLR
Alram
20
+24VIN
49
15,24,
GND24
25,39,40
Position command Pulse
5 [v] Line driver
Open Collector
Line driver
Pulse division output
(Divide setting 1/1, 1/2, 1/3,
1/16)
Servo Enable
Speed reached/ Positioning complete
Alarm Reset / Cumulative Pulse Clea
rAlarm status
24[V]
+24[V]GND
7.5 Control parameter setting
After connecting the motion controller and servo drive, set the foll
owing parameters
Control mode, regeneration option selection
Electronic gear ratio setting
(The ratio of the pulse of each encoder to the pulse of the motion controller)
In-position range setting
Parameter input prohibited
Command pulse selection
(Determines the command pulse method between the motion controller and the servo drive)
Detector output pulse
(Determine the detector pulses (phase A and phase B) output by the servo amplifier)
Direction of encoder output pulse, direction of command pulse
7.6 Single Axis Motion Control Syste
m
Servo
Ball Screw Linear Slider
Motor
ELM+
Encoder
3 Phase
Cable
Power Cable
CN1
CN2
LG Servo Pack
ORG
ELM-
Motion
Board
Switch
AC220V Input
Switch
DC24V Output
AC220V
7.7 Single Axis Motion Control System- Application exam
ple
7.9 Motion Control Programming (EzConfi
g)
7.10
Ez Motion screen
Graph monitoring
Axis Number Setting
Monitoring I/O Parameter Settings
Motion Control
Home se
arch
[Semiconductor equipment]
Test Handler, Die Bonder, Marking System, Sawing &
Sorter, Spinner, Dispenser, Package Inspection System
[ LCD equipment ]
Laser Welding, LCD Multi Repair, CMX Align Stage,
Color Textile Printer
[ PCB equipment ]
Solder Inspection, Screen Printer
[Bio and other equipment]
DNA Synthesizer, Drill & Tapping, IC Tester
A device that generates the pattern
s set on the LCD LGP by laser
After 8 million random trigger informa
tion is reserved by high speed count
module, it is triggered at high speed s
ynchronized with encoder position inf
ormation.
SAW function to personalize PKG from
STRIP and SORT function to classify ind
ividual PKG into TRAY
Implementation of dedicated Sorting Pr
ofile with variable multi-axis synchroniz
ation implementation using script funct
ion
It is necessary to make liquid material nec
essary for parts production in the whole in
dustry according to the application,
X-Y Linear interpolation, Circular interpolat
ion, Continuous interpolation, 3-axis interp
olation for tail processing
Equipment to fix open / short defect
of LCD flat glass's rib pattern using la
ser
X-Y axis Gantry drive support, MPG drive s
upport
Ultra-thin XYθ Alignment Stage is an
ultra-thin stage that is ideal for stan
dard positioning of screen printers
3-axis synchronous drive, absolute
position compensation
Non-contact 3D measurement equipm
ent of Laser Scan type that can autom
atically measure and analyze the shap
e of arbitrary object of fine size as wel
l as print shape of solder paste
-A core equipment used in photolithography to
determine the degree of integration by forming
a super-integrated fine pattern on a wafer. This
equipment equally applies a sensitizing solutio
n to form a wafer pattern.
-ARF independent controller, SIO-DI32, SIO
-DO32P SMC-2V02
-Speed override and acceleration / de
celeration time control at desired pos
ition
q Reliability and precision control
F High-speed and precise control
F Real-time response to external sensor input
F Reliability and precision for rotation information
F Fixed responsiveness in multi-axis control
q Large amount of computation
F Maintain constant acceleration and deceleration
F Maintain real-time response and flat output
F Digital filtering to remove noise from input signal
F Extract rotation information
Motion Control Chip Development direction
Trapezoidal
Full- S
Interpolation
PID&Velocity
기능별 세대
CPU Based
S/ W
Chip Based
DSP Based
H/ W
S/ W
형상별 세대
모터 제어 용 칩의 세대
고속 직선 및 원호 보간
고속 속도 제어형 PID
고속 정밀제어
소형
편이성
안정성
저가격
산업용 장비의 고속화/ 안정화
Chip Based
H/ W
Target shape of Motion Control Chip
S/W Based (CPU, DSP)
-Complex
-Heavy
-Difficult
-High Cost
-Flexible
H/W Based (dedicated chip
-Simple
-Light
-Easy
-Low Cost
-Static
USA
Germany
Japan
Korea
PMD
TRINAMIC NOVA
AJINEXTEK
NIPPON PULSE MOTOR
Motion Control Chip - AJINEXTEK
Ø The CAMC-5M is a Programmable Single Motor Control VLSI chip.
Ø Stepping and servo motor can be precisely controlled by reference
to command transmitted through CPU bus interface.
Ø CAMC-5M has speed override, position override, linear acceleratio
n / deceleration, Quasi-S acceleration / deceleration drive function.
Ø Controls the output signal by sensing the sensor input signal in h
ardware.
Ø
The CAMC-FS is a Programmable Single Motor Control VLSI chip.
Ø
Stepping and servo motor can be precisely controlled by referencing comm
and transmitted through CPU bus interface.
Ø
CAMC-FS has home position detection, speed override, position override, line
ar acceleration / deceleration, S-curve acceleration / deceleration drive functi
on and active level setting function of sensor input signal.
Ø
CAMC-FS is a SCRIPT / CAPTION function that can pre-store the COMMAND
to be executed for a specific event occurring during operation.
Ø
CAMC-QI is a programmable single motor control VLSI chip
Ø
Stepping and servo motor can be precisely controlled by referencing comma
nd transmitted through CPU bus interface.
Ø
CAMC-QI supports 4 axes linear interpolation, circular interpolation, continuo
us interpolation, origin detection, speed and position override, S-curve accele
ration / deceleration drive function.
Ø
CAMC-QI is a SCRIPT / CAPTION function that can pre-store COMMAND to b
e executed for specific event occurring during operation.
Ø
CAMC-SV is a programmable single motor control VLSI chip.
Ø
Stepping and servo motor can be precisely controlled by referencing comma
nd transmitted through CPU bus interface.
Ø
CAMC-SV is a 1-axis motion control chip for servo control. It has a built-in PI
D filter and provides pulse output and DAC output I / F function.
Ø
Origin detection, speed override, position override, linear acceleration / decel
eration, S-curve acceleration / deceleration drive function
Z- 1
ilimp
Ki
plimp
error
Kd
Feedback
Z- 1
Motor
bias
polimp
Kp
derivative
time
dli
m
p
Ref
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Intelligent motor control chip with linear and circular interpolation function
CAMC- FS (pulse output dedicated circuit) + DSP (interpolation function + PID control)
CAMC-5M Specifications
Control axis
1 axis
Operating frequency
20 MHz
CPU interface
8-BIT interface
Sensor input
Alarm stop, ± limit stop, rapid / decel stop
Stop command
Rapid / deceleration stop command
General purpose input
/ output
4-port (TTL) input, 4-port (CMOS, 8mA) output
CS*
RD* WR*A[2:0] D[7:0]
CPU 인터페이스
엔코더2상신호(A,B)
1
2
3
4
DATA WRITE BUFFER
1
2
3
4
DATA READ BUFFER
COMMAND
REGISTER
COUNTER
MODULE
COMPARATE
MODULE
REGISTERS
MAIN
CONTROLLER
PULSE
GENERATOR
MODULE
출력펄스
펄스방향
동작중(BUSY)
CAMC-5M Key Features
Acceleration / deceleration
profile
Trapezoid / Quasi-S acceleration / deceleration profile creation
Number of designated pulse
drives
Up to 16,777,215 pulses can be output for the input data. At this time, it
is automatically adjusted according to the set number of pulses.
Continuous drive
Pulses of the specified speed are output until the stop or deceleration
stop command is set.
Signal detection drive
Detects the edge of the signal (home sensor input) set during driving and
stops the acceleration / deceleration.
Override during operation
Speed and movement override during driving
Drive status
Provides read-only drive status register
Multi-Axis Synchronization
Drive start to synchronous input signal in multi axis control
Pulse output switching
S / W can change 1 pulse / 2 pulse type pulse output mode
Internal / External Position
Counter
28-BIT There is an internal / external position counter to know the
theoretical position by the output pulse of the drive motor and the actual
position information counted by the encoder signal.
Internal / External Position
Counter
Comparison register
28-BIT The internal / external position counter comparison register is one
each, so that the comparison result can be obtained.
Interrupt occurs
Interrupt after drive termination
üESTOP, SSTOP (I): Rapid stop or deceleration stop signal
üPELM, NELM (I): limit stop signal in CW, CCW direction
üPSLM, NSLM (I): Limit deceleration stop signal in CW, CCW direction
üALARM (I): Alarm stop signal input signal
üINPOS (I): The IN-POSITION signal of the servo motor
üSYNC (I): Synchronous input signal for multi-axis drive
üECUP, ECDN (I): encoder A, B phase signal
üIN3 ~ IN0 (I): General purpose input signal 4 PORT
üPULSE_OUT, DIR_OUT (O): Motor drive pulse and direction signal
üBUSY_OUT (O): Motor drive drive status output signal
üUP_OUT, CONST_OUT, DOWN_OUT (O): Acceleration, constant velocity, deceleration state output
signal
üSIGN_OUT, MD_OUT12 to MD_OUT0 (O): deviation or speed output signal
üICL_OUT, ICG_OUT (O): Result of comparison between the setting register value and internal coun
ter
üECL_OUT, ECG_OUT (O): Result of comparison between setting register value and external counter
üOUT3 to OUT0 (O): General purpose output signal 4 PORT
üINT_OUT (O): Interrupt output signal, output from LOW to HIGH after drive termination
Speed
Drive features: 4
Speed setting function: profile
Speed
O b je c t
O b je c t
S ta rt/S to p
S ta rt/S to p
t0
t1
t2
T im e
t3
t0
Speed
Profile:
- Acceleration / deceleration time setting
- Speed setting
t1
t2
t3
t4
t5
t6
t4
t5
T im e
t7
Speed
O b je c t
O b je c t
O v e r r id e 2
O v e r r id e 1
S ta rt/S to p
S ta rt/S to p
t0
t1
t2
t3
t4
t5
t6
t7
T im e
t0
t1
t2
t3
t6
t7
T im e
O v e r r id e c o m m a n d
Speed
Speed
O b je c t
O b je c t
S ta rt/S to p
S ta rt/S to p
t0
검 출 신 호
t1
t2
t3
t4
T im e
t0
검 출 신 호
t1
t2
t4
T im e
CAMC-FS Specifications
Control axis
1 axis
Operating frequency
32.768 MHz
CPU interface
8-BIT/16-BIT interface
Sensor input
Alarm stop, ± limit stop, rapid / decel stop
Stop command
Rapid / deceleration stop command
Command Buffering
Command and execution condition can be saved
Status Buffering
Command and execution condition can be saved
(Command to read register)
General purpose input /
output
4-port (TTL) input, 4-port (CMOS, 8mA) output
CS*
RD* WR* A[2:0] D[7:0]
CPU 인터페이스
엔코더2상신호(A,B)
1
2
3
DATA WRITE BUFFER
4
1
2
3
DATA READ BUFFER
4
COMMAND
REGISTER
COUNTER
MODULE
COMPARATE
MODULE
REGISTERS
MAIN
CONTROLLER
PULSE
GENERATOR
MODULE
출력펄스
펄스방향
동작중(BUSY)
CAMC-FS Key features
Acceleration / deceleration
profile
Trapezoid / Parabolic acceleration / deceleration profile generation
Selectable symmetric / asymmetric acceleration / deceleration modes
Number of designated pulse
drives
Up to 4,294,967,296 pulses can be output for the input data. At this
time, it is automatically adjusted according to the set number of pulses.
Continuous drive
Pulses of the specified speed are output until the stop or deceleration
stop command is input.
Signal detection drive
Detects the edge of the signal (home sensor input) set during driving
and stops the acceleration / deceleration.
Override during operation
Speed and movement override during driving possible
Drive status
Provides read-only drive status register
Multi-Axis Synchronization
Drive start to synchronous input signal in multi axis control
Pulse output switching
S / W can change 1 pulse / 2 pulse type pulse output mode
Internal / External Position
Counter
32-BIT There is an internal / external position counter, so you can know
the theoretical position based on the output pulse of the drive motor
and the actual position information counted by the encoder signal.
Internal / External Position
Counter
Comparison register
Each 32-bit internal / external position counter comparison register has
one register so that the comparison result can be obtained.
Scale count function
The internal / external position counter can be counted from 1 to 255
CAMC-QI Specifications
Control axis
4 axis
Operating frequency
20 MHz
CPU interface
8 / 16 bit interface
Sensor input
Alarm stop, ± limit stop, rapid / decel stop
Interpolation command
Linear / circular interpolation command
Continuous interpolation
Continuous interpolation operation by speed
acceleration / deceleration
Stop command
Rapid / deceleration stop command
General purpose input / output
4-port (TTL) input, 4-port (CMOS, 8mA) output
CS*
RD* WR*A[2:0] D[7:0]
CPU 인터페이스
엔코더2상신호(A[1],B[1],A[2],B[2])
1
2
3
4
DATA WRITE BUFFER
1
2
3
4
DATA READ BUFFER
COMMAND
REGISTER
COUNTER
MODULE
COMPARATE
MODULE
REGISTERS
INTERPOLATION
CONTROLLER
MAIN
CONTROLLER
PULSE
GENERATOR
MODULE[1]
PULSE
GENERATOR
MODULE[2]
출력펄스[1]
펄스방향[1]
동작중(BUSY)[1]
출력펄스[2]
펄스방향[2]
동작중(BUSY)[2]
CAMC-QI Key features
Acceleration / deceleration profile
Trapezoid / Parabolic acceleration / deceleration profile generation
Number of designated pulse drives
Up to 16,777,215 pulses can be output for the input data. At this time, it is
automatically adjusted according to the set number of pulses.
Continuous drive
Pulses of the specified speed are output until the stop or deceleration stop
command is input.
Signal detection drive
Detects the edge of the signal (home sensor input) set during driving and
stops the acceleration / deceleration.
Linear interpolation command
Linear interpolation drive by starting point and end point input
Circular interpolation command
Circular interpolation drive by starting point, end point, center point input
Continuous interpolation function
Continuous operation can be performed by using acceleration / deceleration
without stopping the driving in the continuous interpolation operation.
Override during operation
Speed and movement override during driving possible
Drive status
Provides read-only drive status register
Multi-Axis Synchronization
Drive start to synchronous input signal in multi axis control
Pulse output switching
S / W can change 1 pulse / 2 pulse type pulse output mode
Internal / External Position Counter
28-BIT There is an internal / external position counter to know the theoretical
position by the output pulse of the drive motor and the actual position
information counted by the encoder signal.
Internal / External Position Counter
Comparison register
28-BIT The internal / external position counter comparison register is one each,
so that the comparison result can be obtained.
Interrupt occurs
Interrupt after drive termination
CAMC-SV Specifications
Control axis
1 axis
Operating frequency
20 MHz
CPU interface
8-BIT interface
Sensor input
Alarm stop, ± limit stop, rapid / decel stop
PID control setting
Position and Speed PID Control, Speed and
Acceleration Feedforward
D / A interface
Data output for D / A input for analog control
Sampling time
At least 64 usec
General purpose input/ output
4-port (TTL) input, 4-port (CMOS, 8mA) output
CS* RD* WR* A[ 3:0]D[ 7:0]
CPU 인터페이스
엔코더2상신호(A,B)
1
2
3
4
DATA WRITE BUFFER
1
2
3
4
DATA READ BUFFER
COMMAND
REGISTER
COUNTER
MODULE
COMPARATE
MODULE
REGISTERS
MAIN
CONTROLLER
PULSE
GENERATOR
MODULE
&
PID filter
출력펄스
펄스방향
동작중(BUSY)
CAMC-SV Key features
Acceleration / deceleration
profile
Trapezoid / Parabolic acceleration / deceleration profile generation
Number of designated pulse
drives
Up to 16,777,215 pulses can be output for the input data. At this time, it is
automatically adjusted according to the set number of pulses.
Continuous drive
Pulses of the specified speed are output until the stop or deceleration stop command is
input.
Signal detection drive
Detects the edge of the signal (home sensor input) set during driving and stops the
acceleration / deceleration.
Closed loop control
PID control function, speed value output for analog control
Override during operation
Speed and movement override during driving possible
Drive status
Provides read-only drive status register
Multi-Axis Synchronization
Drive start to synchronous input signal in multi axis control
Pulse output switching
S / W can change 1 pulse / 2 pulse type pulse output mode
Internal / External Position
Counter
28-BIT There is an internal / external position counter to know the theoretical position
by the output pulse of the drive motor and the actual position information counted by
the encoder signal.
Internal / External Position
Counter
Comparison register
28-BIT The internal / external position counter comparison register is one each, so that
the comparison result can be obtained.
Interrupt occurs
Interrupt after drive termination
Product name
Summary
CAMC-5M
1 axis linear acceleration / deceleration
motion control(4MPPS)
CAMC-FS
Single axis S-curve for acceleration /
deceleration motion control(4MPPS)
CAMC-IP
2 axis interpolation motion
control(4MPPS)
CAMC-SV
1 axis Servo motion control(16Bit DAC)
CAMC-QI
4 axis interpolation motion
control(20MPPS)
Application field
Step modder
DC servo motor
AC servo motor
Linear servo mot
or
Various industrial
motors
▶ Simple and lightweight product (high integration, small size, light weight, p
erformance improvement)
▶ Low power, system technology protection
▶ Eliminate supply shortages and strengthen competitiveness
▶ Reduced design time: System design using HDL and FPGA
▶ Cost reduction: Cost, SOC, productivity improvement
▶ Improved reliability: Optimization of parts, simplification of process, automa
tion
▶ Respond to the complexity of functions
▶ The only way to make a small, light product with high performance
▷ Initial development cost (NRE cost)
▷ Design failure burden (cost, time-to-market delay, etc.)
▷ It is difficult to change due to change of target