Embedded Type Servo System Controller
SWM-G
Concept
Covering a Wide Range of Multi-Axis Applications
- SWM-G Motion Control Software is available in 16 to 128-axis control models, enabling multi-axis synchronization of various scales of machines.
- A CPU core of the industrial personal computer is assigned for running SWM-G processing, and that enables SWM-G to perform a high-speed, real-time operation without being affected by the operation on Windows®.
Reduced Machine Design and Startup Time
- The integrated test tool SWM-G Operating Station covers the development processes of SWM-G from design to simulation, contributing to reduction in the total cost of ownership.
- The network management tool CC-Link IE TSN Configurator enables users to set the network configuration and check the communication status, leading to reduced design time.
Maintenance Solution by MELIPC with SWM-G installed
When SWM-G is installed and operated on the MELIPC (industrial personal computer), the system offers a powerful maintenance solution utilizing the Edgecross-compatible software.
[Predictive/preventive maintenance]
- The user application collects data of machine diagnosis function, etc. from MR-J5-G through the communication API of SWM-G.
- The MELIPC analyzes the collected data by using the Edgecross-compatible real-time data analyzer.
[Corrective maintenance]
- SWM-G collects data from the drive recorder of MR-J5-G through TCP/IP communications, which reduces troubleshooting time.
Features
Installed on a personal computer, SWM-G Motion Control Software can perform motion and network control.
- Supports a CC-Link IE TSN servo control system with the personal computer where RTX64 (real-time extension) is installed. (RTX64 is included with SWM-G.)
- Meets various application needs by offering various types of motion control, such as positioning, synchronous, cam, speed, and torque control using API library for motion control.
- Utilizes network control to connect and set various slave devices (remote I/O modules, etc.) and TCP/IP devices.
Motion Control Software*1
SWM-G 
- Maximum number of control axes: 128
- Minimum operation cycle*2: 125 μs
- Programming language: Visual C ++®
USB key for Motion Control Software
MR-SWMG16-U: 16 axes MR-SWMG32-U: 32 axes
MR-SWMG64-U: 64 axes MR-SWMG128-U: 128 axes
- *1. SWM-G Motion Control Software includes SWM-G Engine, SWM-G API, Network API, SWM-G Operating Station, CC-Link IE TSN Configurator, and Real Time OS (RTX64).
- *2. The minimum operation cycle depends on the number of control axes and the CPU of the personal computer.
Numerous Motion Control Functions
Positioning Control
Linear interpolation
Circular interpolation
Continuous path control (path interpolation)
Helical interpolation
Jerk acceleration/deceleration
In this method, an axis can be accelerated gradually through adjusting jerk so that the vibrations of the machine can be minimized.
In the example above, the constant positive jerk is applied at the start of the operation to achieve smooth acceleration.
When the axis is shifted to the constant-speed operation, the same amount of negative jerk is applied.
Adjusting jerk in this way achieves smooth acceleration/deceleration while also shortening the time it takes to reach the target speed.
The speed creates a S-curve shape.
Triggered motion
The triggered motion is a type of command that delays the execution of the motion command until the specified trigger condition is satisfied.
Axes can be started automatically based on the specified conditions by using this command, reducing the cycle time of conveyor systems, etc.
In the operation example above, right after the axis 2 starts execution of normal motion commands, the axis 1 executes the triggered motion command (delaying the execution of the command until the condition is satisfied).
When the condition is satisfied (start trigger ON) during the axis 2 operation, the axis 1 starts executing the motion command.
Synchronous control (tandem drive)
Motion Control Software enables tandem operation where the same commands can be outputted to master and slave axes.
Gantry home position return
After the master and slave axes pass their respective dogs, the gantry home position return stops both of the axes at the Z-phase of the master axis.
This method enables two or more axes to execute home position return simultaneously, supporting gantry systems.
A Wide Variety of Features
Hot connect (disconnection/reconnection)
The hot connect enables a topology change during operation without requesting a communication stop.
The user application disconnects and reconnects the network through API library.
Monitoring of servo data
The controller obtains the status data of servo amplifiers, such as machine diagnosis information and encoder temperature,
via CC-Link IE TSN. This enables visualization of machine status.
Position synchronous output (cam switch)
The output signal is turned on when a specified condition is satisfied. This function can be used as an alternative to a limit switch.
Touch probe (mark detection)
The current value of the servo motor can be read when the touch probe signal is inputted.
Software and hardware touch probes are available.
Select the touch probe according to your application.
Pitch error compensation
The set offset is applied at regularly spaced command positions. The position error of ball screws can be compensated, improving the operation accuracy.
Backlash compensation
The set offset is applied when the axis changes the travel direction.
The backlash of ball screws can be compensated, which improves operation accuracy of machines.
Acceleration/deceleration methods
The controller offers 24 types of acceleration/deceleration methods, such as trapezoidal, S-curve, jerk ratio, parabolic, sine curve, time acceleration trapezoidal, etc.
Select the method according to your application.
Integrated Test Tool SWM-G Operating Station
This tool provides a variety of features - parameter settings required for application development and the test operation for JOG, inching, and positioning operations. In addition, each axis status and sampled waveforms can be displayed to help user check the start timing and the operation pattern.
CC-Link IE TSN Configurator
(settings for CC-Link IE TSN)
- Communication setting with MR-J5-G (communication cycle)
- Communication status check
SWM-G Operating Station
(motion settings, monitor tool)
- Axis parameter setting and axis monitor
- Test operation (for servo ON, JOG, PTP, etc.)
Settings for CC-Link IE TSN-Compatible Devices
The settings of the network and servo amplifiers can be conducted through the single network line of CC-Link IE TSN.
[CC-Link IE TSN Configurator]
CC-Link IE TSN Configurator is the network management tool of CC-Link IE TSN that enables users to set the network and check the communication status.
- Easy network configuration
- System and communication status check
[MR Configurator2*1]
MR Configurator2 enables users to easily set and adjust multiple servo amplifiers through CC-Link IE TSN which enables mixing of TCP/IP communication and other communications.
- Supports MR-J5-G
- Manages a multi-axis system as one project
- Offers an easy-to-set user interface for machine diagnosis function
- *1. MR Configurator2 is not included with SWM-G Motion Control Software.
Open integrated networking across the manufacturing enterprise
CC-Link IE TSN supports TCP/IP communications and applies it to industrial architectures through its support of TSN enabling real-time communications.
With its flexible system architecture and extensive setup and troubleshooting features make CC-Link IE TSN ideal for building an IIoT infrastructure across the manufacturing enterprise.
- * TSN: Time Sensitive Networking
- * IIoT: Industrial Internet of Things
Servo Amplifier MR-J5(W)-G
The MELSERVO-J5 series high-performance, industry-leading servo amplifiers
feature a unique control engine that is more powerful than ever before.
These servo amplifiers can connect to CC-Link IE TSN to perform high-speed, high-precision control.
Each multi-axis servo amplifier drives a maximum of either two or three servo motors (depending on the model of servo amplifier chosen), simplifying wiring and enabling a compact machine at a lower cost.
Specifications
| Motion Module | |||||
|---|---|---|---|---|---|
| SWM-G | |||||
| USB key for Motion Control Software | MR-SWMG16-U | MR-SWMG32-U | MR-SWMG64-U | MR-SWMG128-U | |
| Maximum number of control axes | 16 axes | 32 axes | 64 axes | 128 axes | |
| Communication cycle (operation cycle settings) [μs] |
125, 250, 500, 1000, 2000, 4000, 8000 | ||||
| Network | CC-Link IE TSN | ||||
| CC-Link IE TSN certified class | B | ||||
| Communication specifications | Mixture of hot connect, SDO communication, TCP/IP communication | ||||
| Development environment |
• Microsoft® Visual Studio® 2017, 2019 • Programming languages supported by API library: C/C++, .NET (C#, VB.NET, etc.) |
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| Functions | Control method | Position, speed, torque | |||
| Positioning | Up to 128 axes simultaneously (absolute value command, relative value command) Override is possible |
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| Acceleration/deceleration processing |
Trapezoidal, S-curve, jerk ratio, parabolic, sine, time acceleration trapezoidal, etc. (24 types in total) |
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| Interpolation | 2- to 4-axis linear interpolation, 2-axis/3-axis circular interpolation, 3-axis helical interpolation, PVT | ||||
| Continuous path | Combination of linear and circular interpolation, spline interpolation, pre-read speed automatic control, linear/circular continuous path with rotation stage | ||||
| JOG operation | Provided | ||||
| Real-time control | Event, triggered motion, position synchronous output | ||||
| Synchronous control | Simple synchronization, synchronous gear ratio, synchronous phase offset, synchronous compensation, dynamic establishment/cancellation of synchronization, multiple pairs (up to 64 pairs) of synchronization between 1 axis and multiple axes (synchronous group) |
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| Electronic cam | Cam curves of eight systems can be defined, cam curve per communication cycle, phase operation, clutch |
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| Home position return *1 | Home position return using the Z-phase, home position sensor, limit sensor, limit proximity sensor, external input signal, mechanical end, and gantry axis can be performed. |
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| I/O size | Input: 8000 bytes, output: 8000 bytes | ||||
| Compensation function | Backlash/pitch error compensation, plane strain (straightness) compensation | ||||
| Auxiliary function | Touch probe, logging | ||||
- *1. SWM-G does not support the home position return mode of the servo amplifier.