AMCS - Advanced Motion Control Server
for Brush and Brushless Servomotors
Model
AMCS-S-0x-B/BL
AMCS® [pronounced. a-maks] (Advanced Motion
Control Server) is an advanced server designated to control both brush
and brushless servomotors with phase commutation. The user can designate
which axes are brushed and which are brushless. It features much more
than a typical stand-alone motion controller with network connectivity.
AMCS is a full-featured web server with
an embedded multi-axis motion controller in a very compact enclosure.
It provides tremendous capabilities in network communication, including
the Internet, and at the same time functions independently through its
own system software. The server can be accessed either through a HTML
graphical interface or client applications. Devices incorporating the
AMCS can be controlled and monitored from any place on the globe through
the worldwide computer network. The controller is ideal for many automation
applications, such as robotic, machine tools, semiconductor, scientific,
medical, packaging, textile and industrial.
AMCS works in the Client-Server network
architecture with the additional possibility of creating local sub-networks,
in case of a bigger number of control devices. In the latter case, the
controllers work in a hierarchical Server-Agent configuration. The server,
unlike the agent, has the system software with more features and supervises
a group of agents. Both, the server and the agent are capable of directly
controlling motor drives.
The motion controller harnesses the power
of DSP and ASIC chips to implement the motion control algorithms. It
incorporates the advanced PID filter with velocity and acceleration
feedforward, bias offset and 32-bit position error. The trajectory generator
can create S-curve, trapezoidal, velocity contouring or electronic gearing
motion profiles. The axes can be programmed independently or synchronously
and can operate in open or closed servo loop modes. Motion functions
support among others coordinated linear and circular interpolation,
point-to-point positioning and contouring, backlash compensation, jogging
and homing procedures.
Embedded Program Manager supervises all
control programs. It provides a multi-tasking environment for parallel
programs execution, stopping and resuming. It also provides information
about currently loaded and running programs. The file system enables
data and parameters persistence.
AMCS is supported by the e-NetMotion™
and EasyMotion™ programs written in Java. The e-NetMotion client
application is a graphical interface allowing the server and agents
structure management, user account administration and facilitating access
to the control devices depending on the user privilege level. Additionally,
it provides a secure access to the system, secure transfer of data,
programs and commands, and also remote monitoring of the current status
of all controllers in the network. The EasyMotion graphical user interface
assists in a quick and easy way to set up and tune even complex electro-mechanical
systems.
The controller is programmed by commonly used languages and therefore
does not require an advance level of programming knowledge. Embedded
interpreters make possible writing control programs in G-code and HPGL
standards, C language and a language used in controllers from the Galil
company. They permit programming of advanced motion trajectories realized
by various kinematical configurations.
The open software-hardware architecture
allows for very easy system customization. Optionally, the controller
can be equipped with additional I/Os, wireless network communication
and integrated drives for brush type DC servomotors.
Server features
- Communication channels: 10/100 Mbps Base-T Ethernet port, and RS-232
and RS-485 serial ports
- Hierarchical Client-Server-Agent configuration simplifying the network
structure of control devices
- Secure file transfer protocol (SFTP or SCP) for file and program
transfers
- Logging to the server, data and command transfer using XML-RPC protocol
- The HTTP web server allowing GUI development with HTML
- Data transfer using the XML standard and the TCL interpreter
- Embedded mechanism of devices and user accounts administration
- Multi-tasking Program Manager supervising control programs
- Remote monitoring of the current state of all controllers in the
network
- The file system allowing for data and parameters persistence
Motion control features
- Uses DSP and ASIC high speed dedicated motion
processors in 2 or 4 axes configuration
- Supports single phase brush and 2 or 3- phase
brushless motors
- 6-step (Hall based) or sinusoidal commutation
of brushless motors only
- Independent or synchronous axes programming
- Open or closed servo loop operating modes
- Advanced PID filter with velocity and acceleration
feedforward, bias offset and 32-bit position error
- Axis settled indicator and tracking window
in addition to automatic motion error detection
- Choice of S-curve, trapezoidal, velocity contouring
or electronic gearing motion profiles
- Asymmetric acceleration and deceleration to
custom program a trapezoidal motion profile
- Velocity and acceleration changes on-the-fly
for trapezoidal and velocity contouring profiles
- Position range from -2,147,483,648 to +2,147,483,647
counts
- Velocity range from -32,768 to +32,767 counts/sample
with a resolution of 1/65,536 counts/sample
- Acceleration and deceleration range from -32,768
to 32,767 counts/sample^2 with a resolution of 1/65,536 counts/sample^2
- Jerk range from 0 to 1/2 counts/sample^3 with
a resolution of 1/4,294,967,296 counts/sample^3
- Electronic gear ratio range from -32,768 to
32,767 (negative and positive direction)
- Programmable sample rate from 150 µsec
to 3355 msec per axis
- Single-ended or differential incremental encoder
maximum rate up to 5.0 Mcounts/sec
- Maximum parallel feedback device rate up to
160.0 Mcounts/sec
- Parallel feedback device word size: 16 bits
- 3 Hall effect input signals per axis (TTL level)
for brushless motors only
- Commutation rate 10 kHz for 4 axes or 20 kHz
for 2 axes
- +/-10V 16-bit DAC output signal
- PWM motor output signal of 10-bit resolution
at 20 kHz - 50/50 PWM mode supports 1, 2 or 3 phase motors, Sign/Magnitude
PWM mode supports 1 or 2 phase motors only
- 64 kByte local memory buffer for real-time
data and parameters storage
- Trace capabilities for system performance testing,
servo-filter tuning and diagnostic purposes
- Motion functions support coordinated linear
and circular interpolation, point-to-point positioning and contouring,
backlash compensation, jogging, homing, etc.
- Status reporting for position, speed, errors
and safety
- Programmable event triggers for monitoring
elapsed time, motion complete, position, motion error, limit switches
and position wrap-around
I/O features
- Dedicated opto-isolated inputs for bi-directional
over-travel limits, home sensor, and motor drive enable and fault
handshaking operating at +5 V, +12 V, +24 V or
+48 V
- Dedicated opto-isolated outputs for amplifier
enable signals
- 8 general purpose 10-bit analog inputs in range
of 0 to 5.0 V DC
- 8 general purpose discrete TTL level input lines expandable to
256 inputs
- 8 general purpose discrete output lines operating
at TTL level, expandable to 128 outputs paralled by 8 opto-isolated
signals capable of sinking or sourcing maximum 350 mA at 50 V
Safety features
- Automatic motor shutdown on motion error
- Programmable watchdog timer
- Programmable software reset
- Power supply voltage monitor circuit to reset
the system
- External reset circuit
Software features
- High level programming with G-code and HPGL, C language interpreter
and a language used in controllers from the Galil company
- The e-NetMotion™ (GUI) Java application
facilitating full access to any device in the network
- The EasyMotion™ (GUI) Java application
assists in a quick and easy way to set up and tune even complex electro-mechanical
systems
Options
- Wireless communication
- Expanded number of motion axes
- Expanded number of I/Os
- Integrated brush DC servomotor drives
Operating temperature
Dimensions
- 5.125" long x 4.5" wide x
1.875" high (130 mm x 114 mm x 48 mm)
Weight
Maximum power requirements
- +5 V @ 2.5 A
- -12 V @ 40 mA
- +12 V @ 50 mA
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