Embedded Type Servo System Controller

Concept

Numerous motion control functions, such as positioning, synchronous control, and speed-torque control are performed by the Simple
Motion board being embedded in a PC which supports PCI Express^®.

• Various field devices, such as servo amplifiers, I/O modules, and high-speed counter modules are connected flexibly with the same network.
• The Simple Motion board functions as a master station of CC-Link IE Field Network.
• The interrupt function via PCI Express^® enables an event-driven program to be created with Visual C++^®.

Application Examples

Selecting the best suitable control methods and functions for your machine achieves an optimal solution.

CC-Link IE Field Network

All-in-One Network

All-in-One Engineering Software

Synchronization of Inputs and Outputs with Servo Control

In a single network, inputs/outputs are synchronized with the command communication cycle of the servo amplifier. For example, an input from a synchronous encoder and an output to a printing machine are synchronized in the same network. CC-Link IE Field Network enables a wide range of Motion control applications.

[An example of inputs and outputs synchronized with the command communication cycle of a servo amplifier]

Flexible network topology

Star, line, and star/line mixed topologies are available for a network configuration by using a switching hub. An easy topology created only by a cable being connected to a free port of the switching hub allows field devices to be added to the system more flexibly.

Numerous Motion Control Functions

Positioning Control

• To respond to various application needs, the Simple Motion board offers various control functions, such as linear interpolation, 2-axis circular interpolation, fixed-pitch feed, and continuous trajectory control.
• Automatic operation can be executed easily by setting positioning addresses, speeds, and other setting items with the API library.
• Powerful sub-functions, such as M-code output, skip, speed change, and target position change, are available.

■Helical interpolation

■Block-start

Positioning operation starts from Block start data No.1, and four squircles are drawn in this example.

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

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 remote 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.

(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.

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

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

Functions List

		Simple Motion board
		MR-EM340GF
Maximum number of control axes (virtual servo amplifier axis included)		16 axes
Servo amplifier connection system		CC-Link IE Field Network
Maximum distance between stations [m(ft.)]		100(328.08)
Connectable servo amplifier		MR-J4-GF , MR-J4-GF-RJ
Operation cycle (operation cycle settings)		0.5 ms, 1.0 ms, 2.0 ms, 4.0 ms
Engineering Environment		MELSOFT EM Software Development Kit
Control modes		Positioning, Trajectory control (linear, arc, and helical), Speed control, Speed-torque control
Control unit		mm, inch, degree, pulse
Number of positioning data		600 data/axis
Acceleration/deceleration process		Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Manual control		JOG operation, Manual pulse generator, Inching operation
Expansion control		Direct control
Functions that change control details		Current value change, Target position change function, Torque change function, Speed change function, Override function, Acceleration/deceleration time change function
Home position return method		Driver home position return method
Auxiliary functions		Forced 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 points		32 points (I/O allocation: Intelligent function module, 32 points)
Current consumption [A]	12 VDC	0.4
	3.3 VDC	0.6
Mass [kg]		0.13

Performance specifications of CC-Link IE Field Network

			Simple Motion module
			MR-EM340GF
Maximum link points per network		RX	16k points (16384 points, 2 kbytes)
		RY	16k points (16384 points, 2 kbytes)
		RWr	8k points (8192 points, 16 kbytes)
		RWw	8k points (8192 points, 16 kbytes)
Maximum link points per station	Master station	RX	16k points (16384 points, 2 kbytes)
		RY	16k points (16384 points, 2 kbytes)
		RWr	8k points (8192 points, 16 kbytes)
		RWw	8k points (8192 points, 16 kbytes)
	Local station	RX	2k points (2048 points, 256 bytes)
		RY	2k points (2048 points, 256 bytes)
		RWr	256 points, 512 bytes
		RWw	256 points, 512 bytes
	Intelligent device station	RX	2k points (2048 points, 256 bytes
		RY	2k points (2048 points, 256 bytes
		RWr	256 points, 512 bytes
		RWw	256 points, 512 bytes
	Remote device station	RX	128 points, 16 bytes
		RY	128 points, 16 bytes
		RWr	64 points, 128 bytes
		RWw	64 points, 128 bytes
Ethernet	Communication speed		1Gbps
	Connection cable		1000BASE-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))
	Topology		Line type, star type, line/star mixed type
Overall cable distance	Line type [m(ft.)]		12000(39370.08) (When 1 master station and 120 remote stations are connected)
	Star type(Note-2)		Depends on system configuration
Maximum connectable stations per network			121 stations (1 master station. 120 remote stations)
Maximum number of networks			239

(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.