5 DOF type 1 cam mover system – control electronics Juha Kemppinen 13.04.2016.

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Presentation transcript:

5 DOF type 1 cam mover system – control electronics Juha Kemppinen

Requirements Controller CPU capable of computing inverse kinematics Calculates motion profile for each cam mover Stepper motor controller Converts motion profiles to step and direction signals 5 stepper motor axes to handle Drives already purchased Rotary absolute encoder acquisition Renishaw encoders  BiSS interface 5 encoders Power supplies Fast acquisition of 4 WPS sensors

Cables and connectors Cable partstype (connector)SCEMQtyMounted inEncoder/motorPrice/unitPrice/lot BURNDY UTO P-21Tchassis, male Cam moverEncoder8.8 CHF44CHF BURNDY UTO S-21Tchassis, female RackEncoder8.6 CHF43CHF BURNDY UTO P-21Tchassis, male Cam moverMotor13 CHF65CHF BURNDY UTO S-21Tchassis, female RackMotor8.6 CHF43CHF BURNDY UTO 6AC-12-8P-22Tcable, male MCA 08Encoder16 CHF80CHF BURNDY UTO 6AC-12-8S-22Tcable, female MCA 08Encoder17 CHF85CHF BURNDY UTO 6AC-12-5P-22Tcable, male NG8Motor17 CHF85CHF BURNDY UTO 6AC-12-5S-22Tcable, female NG8Motor29.5 CHF147.5CHF MCA x ?mEncoder1.1 CHF/m NG x ?mMotor2.3 CHF/m Total costs with 10 m cables:653.5CHF

System with real-time control PartQty.Unit priceDiscountAmountConversion to CHF cRIO Slot Integrated Controller and Chassis System, Artix-7 FPGA $12.00% $ $ NI 9915 DIN Rail Mounting Kit for 8-slot cRIO/cDAQ Chassis $12.00%27.28$ $ NI PS-15 Power Supply, 24 VDC, 5 A, / VAC Input $12.00%194.48$ $ NI PS-17 Power Supply, 24 VDC, 20 A, Universal Power Input $12.00%421.52$ $ SISU axis stepper motor controller (C-series module) $0.00% $ $ RJ45 BREAKOUT FOR SISU $0.00%195.00$ $ CABLE FOR SISU-1004, SHIELDED, SNAGLESS, WHITE, 7FT $0.00%75.00$ $ SEA 9521 BiSS Interface Module €0.00% € € Shipping DHL express 2 kg international €0.00%124.00€ € NI ch (current) + 8-ch (voltage) combo module, 24bit with 50/60Hz rejection $12.00%563.20$ $ NI pin DSub terminal block for screw terminal connectivity to 37 pin DSub C Series modules $12.00%117.92$ $ Cables and connectors653.5 Total (CHF)

System without real-time control PartQty.Unit priceDiscountAmountConversion to CHF cRIO Slot Integrated Controller and Chassis System, Artix-7 FPGA $12.00% $ $ NI 9915 DIN Rail Mounting Kit for 4-slot cRIO/cDAQ Chassis $12.00%27.28$ $ NI PS-15 Power Supply, 24 VDC, 5 A, / VAC Input $12.00%194.48$ $ NI PS-17 Power Supply, 24 VDC, 20 A, Universal Power Input $12.00%421.52$ $ SISU axis stepper motor controller (C-series module) $0.00% $ $ RJ45 BREAKOUT FOR SISU $0.00%195.00$ $ CABLE FOR SISU-1004, SHIELDED, SNAGLESS, WHITE, 7FT $0.00%75.00$ $ SEA 9521 BiSS Interface Module €0.00% € € Shipping DHL express 2 kg international €0.00%124.00€ € Cables and connectors653.5 Total (CHF)

Space allocation Without real-time control, 3U should suffice With real-time control, 3U … 6U