Copyright 2001 ACS-Tech80 1 ACS-Tech 80, Inc. SPiiPlus Control Module Overview

Copyright 2001 ACS-Tech801

ACS-Tech 80, Inc.

SPiiPlus Control Module Overview


SPiiPlus Control Module (CM)


SPiiPlus Control Module

The CM combines an advanced SpiiPlus motion controller, up to 3 digital drives and a power supply in a single standalone package that can operate in a larger machine or act as the entire machine control.


SPiiPlus Control Module

Same software tools as the SPiiPlusPCI Full Simulator capabilities 20 kHz servo update rate on :

Position loop Velocity loop Current loop Commutation

On board Sin/Cos multipliers Hardware base position compare and capture Available Modbus driver Expansion up to a total of 8 axis via the HSSI interface


SPiiPlus CM - Hardware Overview

Digital drives: Supply voltage: 24V for the logic section. Single-phase 110-265VAC or 110-375VDC or three-

phase 230VAC. Current levels: 5A cont./10A peak or 10Acont./20A

peak (sine wave amplitude). Sophisticated current control: separate current loops

for the torque-producing and the field-producing current components.

True space vector modulation: increases the linear operation range of the digital drive by more than 15%, achieving higher velocity, lower position error, and reduced current at high velocities.


I/O Safety inputs: one dedicated E-stop,

left limit and right limit per axis. General purpose digital I/O: eight/eight, 5Vdc or

24Vdc single-ended, opto-isolated, can be user-configured as sink or source. Expandable to 256/252 points via the HSSI interface

Position Event Generator (PEG) digital outputs:one PEG pulse per X,Y,Z,T axis (each pulse consumes one of the eight general purpose digital outputs). Four PEG states per X, Y axes.

Registration Mark (position capture) digital inputs: four (each consumes one of the eight general purpose digital inputs), two per X and Y axis.

Mechanical brake outputs: four (can be used as general purpose outputs), single-ended, 1A, opto-isolated, source-type only.



I/O (cont.) Analog inputs: six, differential, ±1.25V or ±10V, 14-bit

resolution. each SIN-COS encoder consumes two analog inputs.

Analog outputs: two, single ended, 10-bit resolution.

Communication channels RS-232: up to 115,000 baud. RS-232/422/485: up to 115,000 baud. Ethernet: TCP/IP 10/100 Mb/sec. CANopen…future



SPiiPlus CM - Control Architecture One main processor (MPU) - executes high

level tasks – profile generation, communication, interface, programs, diagnostics, etc.

One (slaved) servo processor (SPii) - per two axes, executes real-time control algorithms at 20kHz.

MPU

586/PentiumMPU cycle

0.5, 1, 2 msec

SPii T/D

SPii Z/C

SPii Y/B

SPii X/A

SPii cycle 50µsec

Interaction with real world

Interactionwithhost computer

Flash memory


SPiiPlus CM – MPU Overview MPU is Pentium-like x86-based processor

in standard PC/104+ format. 4 & 8 axis version provided with 300 MHz

processor On-board RTOS MPU executes compiled programs in

programmable cycle time (0.5, 1, or 2 ms). Large memory capacities: 8Mb RAM

including 1Mb for user programs and 4Mb nonvolatile (flash) memory.


SPii Overview

SPii = Servo Processor, second generation. Proprietary ASIC designed by ACS-Tech80

specifically for motion control. Each SPii controls two axes. Main characteristics:

Integrated RISC + all peripherals. Powerful CPU with 120 MHz, 24-bit bus. Very cost effective. Maximum flexibility – customizable real-

time control algorithms.


SPii Capabilities (cont.)High Speed Hardware Based Position Event Generator (PEG)

PEG triggers external events via outputs at precise positions with submicrosecond delay.

Provides accuracy of ±1 count at up to 5,000,000 encoder quadrature counts/second.

Application examples: printing, AOI, laser cutting.

Hardware Position Registration (MARK) MARK (also known as Position Capture) provides

high-speed and high accuracy position registration capability.

MARK provides the ability to move an axis to a target relative to a registration mark.

Once an axis is moving and MARK is detected, the motion profile can be smoothly modified on-the-fly to reach a new target position.

Application example: Packaging.


SPii Capabilities (cont.)

Software Sinusoidal Commutation Updates at 20kHz - provides very smooth operation.

High-Speed Synchronous Serial Interface (HSSI) Cost effective way to implement a distributed system and

expand I/Os through external modules. Uses include: Laser interferometer interface Absolute feedback (for example, resolver) interface Any sensor with serial/parallel communication

Each SPii has a 2.5 MHz synchronous serial bus with 4 x 16 bit inputs and outputs and a refresh rate of 20kHz. Based on RS-485 design.

SPii communicates with HSSI modules through standard Ethernet cable (maximum length 20 meters).

HSSI is a simple protocol enabling users to build customized expansion modules.


SPiiPlus CM - Operation Options


HSSI-IO16 - Expansion Module Cost effective way to implement

distributed I/O system 16 opto-isolated inputs 16 opto-isolated outputs Up to an additional 256-inputs and

252-outputs by daisy chaining modules

Module identification and diagnostics including LEDs

DIN rail or surface mount Simple programming using SPiiPlus

Library or ACSPL+


HSSI-ED2 Expansion Module Interface to two remote drivers. Cost effective

way to implement a distributed motion system Includes:

Two driver interfaces – with/without SW commutation

Two quadrature encoder interfaces (A, B, I)

Limit switches interface General purpose I/O interface. Diagnostics including LEDs DIN rail or surface mount Simple programming using

SPiiPlus Library or ACSPL+


How to order – SPiiPlus Control Module

SPiiPlus CM- 3 – A – E- M3 – H4

CM: Control Module

Number of Drives: 1,2 or 3

Current rating: A 5/10 ampB 10/20 amp

Communication: Ethernet & 2 RS-232

No. of sin/cos multipliers: M0, M1, M2, M3

No. of HSSI Channels: blank or H4


How to order – SPiiPlus Control Module

SPiiPlus CM- ACC

Accessory Kit Includes:

Dsub mating connectors Phoenix mating connectors

Must be ordered with each Control Module unless the OEM is setup to work without it.


Thank you.

Documents

Copyright 2001 ACS-Tech80 1 ACS-Tech 80, Inc. SPiiPlus Control Module Overview