Difference between revisions of "Overview"
m (→Multitasking) |
m |
||
| Line 38: | Line 38: | ||
@@@@@@@@@@@@@@@@@@@@ --> | @@@@@@@@@@@@@@@@@@@@ --> | ||
| − | |||
== System Hardware == | == System Hardware == | ||
| Line 63: | Line 62: | ||
@@@@@@@@@@@@@@@@@@@@ --> | @@@@@@@@@@@@@@@@@@@@ --> | ||
| − | |||
== Operating System == | == Operating System == | ||
The operating system provides a stable platform for the softMC software. | The operating system provides a stable platform for the softMC software. | ||
| Line 77: | Line 75: | ||
Camming links master and slave axes by a cam table. Camming has all the features of gearing, plus the cam table can have any number of points. The cam points are in x-y format so spacing can be provided independently. Multiple tables can be linked together, allowing you to build complex cam profiles from simpler tables. There is a cycle counter that lets you specify how many cycles to run a cam before ending. | Camming links master and slave axes by a cam table. Camming has all the features of gearing, plus the cam table can have any number of points. The cam points are in x-y format so spacing can be provided independently. Multiple tables can be linked together, allowing you to build complex cam profiles from simpler tables. There is a cycle counter that lets you specify how many cycles to run a cam before ending. | ||
@@@@@@@@@@@@@@@@@@@@ --!> | @@@@@@@@@@@@@@@@@@@@ --!> | ||
| − | |||
== I/O == | == I/O == | ||
The softMC provides 23 optically-isolated inputs and 20 optically-isolated outputs as standard features, in addition to limit switches and other drive I/O points that are connected directly to the drives and transferred to the softMC via SERCOS. Additionally, each drive provides hardware for six I/O points: three digital inputs, one digital output, a 14-bit analog input, and a 12-bit analog output. An auxiliary encoder can also be connected to any drive. | The softMC provides 23 optically-isolated inputs and 20 optically-isolated outputs as standard features, in addition to limit switches and other drive I/O points that are connected directly to the drives and transferred to the softMC via SERCOS. Additionally, each drive provides hardware for six I/O points: three digital inputs, one digital output, a 14-bit analog input, and a 12-bit analog output. An auxiliary encoder can also be connected to any drive. | ||
| Line 86: | Line 83: | ||
<!-- @@@@@@@@@@@@@@@@@@@@ | <!-- @@@@@@@@@@@@@@@@@@@@ | ||
| − | |||
== SERCOS == | == SERCOS == | ||
softMC supports SERCOS<sup>®</sup> (Serial Real-time Communications System), an internationally-approved communication standard for motion control (IEC 61491, previously IEC 1491). This communication network is designed for high-speed serial communication of standardized closed-loop data, in real-time, over a noise-immune fiber-optic cable. | softMC supports SERCOS<sup>®</sup> (Serial Real-time Communications System), an internationally-approved communication standard for motion control (IEC 61491, previously IEC 1491). This communication network is designed for high-speed serial communication of standardized closed-loop data, in real-time, over a noise-immune fiber-optic cable. | ||
Revision as of 11:36, 24 April 2014
Contents
Introduction
The softMC is a multi-axis motion controller. It provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.
The softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as Delta, PUMA and SCARA, and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.
softMC features Servotronix advanced control algorithms embedded in a qualified off-the-shelf industrial PC, for an open and modular machine control environment. Its powerful and realtime Linux-based programming language enables preemptive multitasking at user program level.
softMC is integrated with Servotronix drive-motor systems.
Key features:
- Open, modular, and modern machine control environment
- Ethernet machine interface
- Support for EtherCAT and CANopen motion buses (Sercos III upon request)
- Controls up to 128 interpolated axes
- Extensive capabilities for both standard and non-standard robotic kinematics
softMC Firmware
This wiki contains the documentation for the softMC controller and softMC firmware Version 5.0.0.
Firmware Version 5.0.0 contains many new commands, functions, and properties. In some instances, the behavior of functions, commands, and properties found in previous versions of the firmware have changed. This documentation is not necessarily backward compatible with previous versions of the firmware. If you are using a previous version of the product, it is recommended that you also refer to the documentation that was supplied at the time your received your product.
To execute the examples described in this documentation, ControlStudio must be installed on your host computer.
System Hardware
Hardware:
- Off-the-shelf industrial PC (based on specific product availability)
- Other platforms can be evaluated upon special request
General hardware requirements:
- x86 Intel CPU
- RAM: minimum 256 MB
- Storage: Compact Flash, minimum 512 MB
- 2 x LAN 100 MB / 1 GB , Realtek / Intel
- At least 1 UART (RS232, RS422, RS485)
- On-board or add-on card for CANopen
Operating System
The operating system provides a stable platform for the softMC software.
MC-Basic Language Compiler
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than 5 microseconds. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.
MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.
API
The API software package allows you to communicate with the softMC from popular programming languages, such as Visual Basic. The API provides complete access to all the elements of your system across dual-port RAM.
Multitasking
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.
The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.
User Communication
The Ethernet and serial ports of the softMC are used for ASCII data transfer. Non-printable characters are sent using CHR$. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either raw serial port or TCP socket. The TCP socket guaranties error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.
User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the usage of any protocol over serial or TCP/IP through an softMC application.
Refer to: Communication