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Solution for Real time Motion Control


Here we will introduce various solutions to achieve high-sophisticated / high-performance PC – based motion control using INtime / INplc applications.


 EtherCAT
 
EtherCAT® is a world wide next generation fieldbus to achieve ultra – fast real time communication in Ethernet environment. You can use it without adding I/F boards since INtime can do real time control with PC internal Ethernet controllers.
 
Product Type
Product Category C
Product Overview EtherCAT motion library available by INtime.
You can achieve EtherCAT motion control by combiningwith EtherCAT master for INtime "RSI-ECAT".
Basic Specifications On and after INtime Version 4.2
Features
· The interfaces of INtime are ready.
· Sample source codes of operation software and Track Precision Analysis Tool are attached.
Related Information
Functions
(excerpt)
Initialization Communication ASIC Reset, Init / End, Slave Connection / release, Interrupt Setting / Wait
Parameter Settings Servo Parameter R/W, BL Parameter R/W
Monitor Position/Speed/Status/ Track Precision Info
System Settings Reset, IO, Servo ON/OFF, Break/Stop, Same Command 2 Axes, Override, others
Move Homing, Position Motion, Latch Position Motion, Linear Interpolation, Circular Interpolation, JOG Move, JOG Stop
Product Type
Product Category C
Product Overview Hivertec Inc has 30-year-long history in hardware motion control fields. It is a Software motion control product.
It is controlled by motion control functions based on “Function Blocks for Motion Control”.
Basic Specifications On and after INtime Version 4.2 / On and after INplc Version 2.0
Features
· You can use interfaces for INtime / INplc.
· You can exchange data with Windows applications using shared memory.
Functions
(excerpt)
MC_Power Power ON/OFF
MC_Home Start Sequence for searching starting position
MC_Stop Stop Operation
MC_MoveAbsolute Move to Designated Absolute Position
MC_MoveRelative Move to Designated Relative Position
MC_MoveAdditive Add Designated Distance
MC_MoveVelocity Continuous Move by designated Speed
MC_SetOverride Override speed / acceleration
MC_Reset Reset Axis Internal Error

Product Type
Product Category D-2
Product Overview The slave side creates / processes information Of position and speed.
It is a high-speed / low-load EtherCAT motion Slave.
HES-C400
Features
· You can use interfaces for INtime / INplc.
· You can exchange data with Windows applications using shared memory.
Evaluation Report

 
Product Type "MINAS A5B" – Servo Motor Module corresponding to EtherCAT →
Product Category D-2 A5B
Product Overview Regarding the Servo Motor Slave Unit, checking operation has been done using INtime+RSI-ECAT.
High Performance
· Velocity Response Frequency 2300Hz
· Communication Speed100Mbps
· Loaded with real time auto tuning, various vibration inhibitory filters
Operationality
· Minimal Amp for EtherCAT in industry segments
· Correspond to Setup Support Software "PANATERM"
High Sophisticated Functions
· Full EtherCAT applications
(7 kinds of control modes, 32 kinds of Homing, synchronous (2 kinds) and ssynchronous)
· Available to system up with various slaves
Specifications
· Pass the official EtherCAT Conformance Test
· Line up safety I/O according to global specifications
Evaluation Report

 MECHATROLINK
MECHATROLINK is time-proven, superior (especially in motion control fields) specifications which are domestic open field networks.
You can choose various slave instruments such as Servo Drives, Stepping Motor Drives flexibly so that you can achieve wire-saving.
Master I/F boards and INtime Drivers are provided.
Product Type
Product Category C
Product Overview It is a MECHATROLINK motion library available for INtime.
You can achieve MECHATROLINK motion control by combining with a MECHATROLINK-Ⅲ expansion board "NT-112".
Basic Specifications On and after INtime Version 4.2
Features
· The interfaces of INtime.
· Sample source codes of operation software and Track Precision Analysis Tool are attached.
Functions
(excerpt)
Initialization
Communication ASIC Reset, Init / End, Slave Connection / release, Interrupt Setting / Wait
Parameter Settings Servo Parameter R/W, BL Parameter R/W
Monitor Position/Speed/Status/ Track Precision Info
System Settings Reset, IO, Servo ON/OFF, Break/Stop, Same Command 2 Axes, Override, others
Move Homing, Position Motion, Latch Position Motion, Linear Interpolation, Circular Interpolation, JOG Move, JOG Stop

YASKAWA ELECTRIC CORPORATION
NT112-1 Product Type CPMC-NTA712(NT112board)
Product Category D-2
Communication Method MECHATROLINK-Ⅲ
Bus PCI
MECHATROLINK Channel No. 1
No. of Axes 62

 SSCNET3H
SSCNETⅢ/H is a motion network which enables you to configure high-efficiency servo systems adopting tow-way 150Mbps of communication velocity and data frame architecture for servo systems.
It can correspond flexibly to wide-scale systems with long distance wiring since the communication quality is quite high by improving noise proof property with optical fibers.
The API libraries for INtime and a position board have been prepared so that you can achieve positioning so easily.
Mitsubishi Electric Corporation
Product Type Position Board Utility2 MRZJW3-MC2-UTL
Product Category D-2
Product Overview Program Development Kit of Position Board MR-MC2 series for SSCNETⅢ/H
Basic Specifications · Microsoft® Windows® 7, Windows® 8, Windows® 8.1 (Test Tool)
· INtime 4.2, INtime 5.1(API Libraries※)
※API libraries available for INtime are provided optionally. Please inquire to Sales contact of Mitsubishi Electric Corporation for more details.
Features
· Supplied with support tools for unit test / debugging using graphs and monitors before creating user programs.
· You can create programs with event-driven methods using interrupt like "in position".
· Sample programs are ready such as parameter settings, SSCNET communication start, operation.
Functions
(Excerpt)
System Functions Software Reboot, Init, System Reboot, Interrupt set / wait
Parameter Functions Parameter R / W, Load / Save to Flash ROM
Monitor Functions Positioning / Velocity / External Signals, other various servo monitors
Operation Functions JOG Operations, Incremental Move, Homing, Automatic Operation (Point Table method), Linear Interpolation
Others Change Position・Velocity・Time Constant, Passage Interrupt, Interface Mode, Others…

Mitsubishi Electric Corporation
Product Type Position Board for SSCNETⅢ/H
MR-MC211/210(PCI,32 axes /20 axes)
SSCNET
Product Category D-2
Product Overview You can achieve a high-response servo control using by SSCNETⅢ/H collaborated with PC where INtime is loaded.
Basic Specifications Operation
Functions
JOG Operations, Incremental Move, Homing, Automatic Operation (Point Table method), Linear Interpolation (Sequential Command method)
Application
Functions
Start other axes, Passage Interrupt, Interference Check, Parallel Driven, Others…
Miscellaneous
Functions
Sampling, Monitoring, Log, Alarm History, Servo Amp Separating, Others…
Features
· Real time performance can be assured for position control system or SSCNET communication control since the position board processes.
· Interface Mode which enables customers achieve their own motion control (creating commands for position・velocity・torque) by SSCNETⅢ/H is loaded as standard equipment.

 Motion Expansion Boards
Motion Control Boards corresponding to PCI are boards which implements motion control LSI for controlling multi axes and they are used inserting into PCI slots.
These expansion boards are connected with multi motor drivers by each maker so as to Control Servo Motor and Stepping Motor.
Since they have high- intelligence, so it enables you to lighten your burden on development phases.
Hivertec Inc.
m_s_img Product Type No.of Axes On board LSI Method Max Output Product Category
4 PCL6045 Pulse Train 6.5Mpps D-2
8 PCL6045 Pulse Train 6.5Mpps D-2
12 PCL6045 Pulse Train 6.5Mpps D-2
CONTEC CO., LTD.
m_s_img2 Product Type Hardware Type No.of Axes On board LSI Method Max Output Product Category
RSI-SMC4DF SMC-4DF-PCI 4 PCL6045 Pulse Train 6.5Mpps D-1
RSI-SMC8DF SMC-8DF-PCI 8 PCL6045 Pulse Train 6.5Mpps D-1
RSI-SMC4DL SMC-4DL-PCI 4 PCL6045 Pulse Train 9.8Mpps D-1
RSI-SMC8DL SMC-8DL-PCI 8 PCL6045 Pulse Train 9.8Mpps D-1
CosmoTechs CO.,LTD.
m_s_img3 Product Type No.of Axes On board LSI Method Max Output Product Category
PCPG-168 16 PMC842S Pulse Train 8.191Mpps D-2
PCPG-128 12 PMC842S Pulse Train 8.191Mpps D-2
PCPG-88 8 PMC842S Pulse Train 8.191Mpps D-2
PMAC Japan Co. Ltd.
m_s_img4 Product Type Hardware Type No.of Axes On board LSI Method Max Output Product Category
RSI-708 PMAC2-Lite-PCI 4 DSP56300 Pulse Train D-1
RSI-708 PMAC2-PCI 4~8 DSP56300 Pulse Train D-1
RSI-708 Turbo-PMAC2-
PCI
4~32 DSP56300 Pulse Train D-1
RSI-708 Turbo-PMAC2-
PCI-Ultralite
4~32 DSP56300 Pulse Train D-1
Ampere Inc.
m_s_img5 Product Type Hardware Type No.of Axes On board LSI Method Max Output Product Category
RSI-612 Macro5612B 4 PPMC-312 Pulse Train 2Mpps D-1