• Amcats Private Limited

ACS Motion Controller with Integrated Drives

Amcats offers ACS Motion Controller with Integrated Drives.
ACS Motion Control‘s Spii ASIC (Application specific Integrated Circuit), is recognized by Design News as a “Great Idea in Motion Control”. It is a complete control system in a single chip, with 24 bit RISC (Reduced Instruction Set Computing). Spii series of controllers can be used to control 2,4,6,8 axes of a motion control system. While other controllers use a DSP, these controllers employ a distributed multi-processor architecture that has 1 main processing unit (MPU) handling high level tasks like profile generation, communication, diagnostics and several slave processors dedicated to 2 axes each, executing real time control algorithms at 20KHz.

Motion Control Solutions
ACS provides 2 types of solutions for motion control:
1. Multi-axes Controller (PCI, Stand Alone SA, Rack mounted 3U)
2. Multi-axes Control Module CM (Controller + Motor Drives + Power Supply)


1. Multi-axes Controller
SpiiPlus PCI
The SPiiPlus PCI motion control line handles complex demands without compromising on accuracy or throughput. It can control up to 8 AC servo/DC brushless, DC brush motors or piezoelectric nanomotors and up to 4 Stepper motors through Pulse Direction command. It can operate inside a PC or as a standalone controller. Each product of the SPiiPlus PCI line is tailored to a specific application:

• SPiiPlus PCI - Meets the motion control requirements of the utmost demanding applications like semiconductors manufacturing, wafer inspection and Flat Panel Display assembly and testing, etc.
• SPiiPlus PCI-LT - Designed for enhancing the performance of OEM machinery that requires multi-axis synchronization and low price.
• SPiiPlus PCI-ST – Designed for enhancing the performance of OEM systems operating with step motors and servo motor drives with Pulse-Direction interface.

SpiiPlus SA
SpiiPlus SA models SA and SA-LT are similar to SpiiPlus PCI and PCI-LT models and are the Standalone equivalents of their PCI counterparts. Communication takes place using RS-232 or Ethernet.

SpiiPlus 3U
Similar to SpiiPlus PCI and SA, 3U is a Rack mounted type controller. Communication can be done through Serial RS-232 channels or Ethernet channel. Modbus communication is also supported.

2. Control Module CM (Controller with Integrated Drives and Power Supply)
SpiiPlus CM Control Module combines a programmable motion controller, power supply, and up to three digital drives into a single standalone package. Each integrated digital drive is software configurable for AC servo/DC brushless, or DC brush motors. By implementing an HSSI network (HSSI Channels are for connecting Expansion slots), together with DC brush or external stepper (indexer) drives and motors, the number of controlled axes can be increased to eight. It has up to 3 mechanical brake inputs for better control.

Digital drive supply voltages range from single phase 90Vdc -125Vdc, 100Vac -240Vac, three phase 230Vac (ph-ph) or the low voltage option 24Vdc to 120Vdc, 19Vac to 85Vac. It has provision for separate current loops ie for Torque producing and Field producing currents. It also has Integrated digital drives with sophisticated advanced 20kHz PWM current control and space vector modulation for higher velocity, lower position error and reduced current at high velocities.

Features:

• Distributed Multi-processor architecture – 1 Main Processor MPU handling High level tasks with up to 4 slave processors for real time control algorithm execution. The MPU can have profile generation cycle time of 0.5, 1, or 2 msec. The Spii slave processors are synchronized to work at 20kHz.
• PEG (Position Event Generator) – High speed hardware based Position event generators trigger external events via digital       outputs at precise positions with sub microsecond delays and with an accuracy of ±1 count per 5 million encoder quad count/sec.
• MARK (or Position Capture) – High speed high accuracy Position Registration provides ability to move an axis to a target relative to the input registration mark. Once an axis is moving and MARK is detected, motion profile can be smoothly modified on the fly to reach the new target position.
• Sin-Cos Encoder Multipliers – Built in Analogue SinCos Multipliers for each axis that can increase the resolution x4 to x65,536 (16 bit). This ability can be used to get motion resolution in nanometres with hardly any reduction in the maximum velocity.
• Motion Profile Generation – Modes: Point-to-point, multi-point to point, jog, segmented, master-slave, and arbitrary path with PVT cubic interpolation.
         o Trajectory Calculation Rate: Programmable 0.5, 1 or 2kHz.
         o Position Range: ±4x1015 counts Velocity: 160x109 counts/s.
         o Acceleration: up to 4x1015 counts/s2.
• Software Commutator – Support for Sinusoidal commutation in brushless motors.
• Safety Inputs – Limit switch inputs – 2 per axis, Emergency stop.
• Dual Loop Support – Dual loops ie 1 Position(P) loop and 1 Velocity loop (PI, 2nd order LPF or Notch filters) can be implemented by making 1 axis dummy.
• Communication – Serial RS-232, Ethernet 10/100 Base T, Modbus protocol Support. Simultaneous communication through all channels can be done.
• ACSPL – A compiled, high-level true multitasking language, optimized for motion control applications. ACSPL+ enables implementation of highly complex motion-time-event sequences with accurate positioning and timing. Up to nine ACSPL+ programs can simultaneously run on the controller. Programs can also be implemented by a host PC application running under Windows 98/2000/ME/NT/XP using the DLL or the COM libraries provided for C, C++, Visual Basic, LabView, and more. In addition to these, extensive C/C++ DLLs are available for On-Time and Venturecom RTOS.
• Software Tools – An array of software applications that are used for programming and tuning like Motion Machine Interface (MMI), Motion Scope, Multi axes Simulator, and Frequency Response Analyzer.
• Advanced Features
        o Pre-ignition – Feed forward Control ensures that output action can take place at a specified time before the target
           point is reached.
        o Virtual Axis Programming ensures error correction before positioning.
        o On the fly changes can be made to Position, Velocity, Acceleration, Deceleration or Jerk.
        o Inverse Kinematics can be implemented using certain functions.
        o Optional Input Shaping – Motion profile generation without exciting vibrations to the load and reduced settling time
           without decreased acceleration.