Copyright 2001 ACS-Tech80 1 ACS-Tech 80, Inc. SPiiPlus Control Module Overview

Copyright 2001 ACS-Tech80 2 SPiiPlus Control Module (CM)

Copyright 2001 ACS-Tech80 3 SPiiPlus Control Module The CM combines an advanced SpiiPlus motion controller, up to 3 digital drives and a power supply in a single standalone package that can operate in a larger machine or act as the entire machine control.

Copyright 2001 ACS-Tech80 4 SPiiPlus Control Module l Same software tools as the SPiiPlusPCI l Full Simulator capabilities l 20 kHz servo update rate on : u Position loop u Velocity loop u Current loop u Commutation l On board Sin/Cos multipliers l Hardware base position compare and capture l Available Modbus driver l Expansion up to a total of 8 axis via the HSSI interface

Copyright 2001 ACS-Tech80 5 SPiiPlus CM - Hardware Overview Digital drives: u Supply voltage: u 24V for the logic section. u Single-phase VAC or VDC or three- phase 230VAC. u Current levels: 5A cont./10A peak or 10Acont./20A peak (sine wave amplitude). u Sophisticated current control: separate current loops for the torque-producing and the field-producing current components. u True space vector modulation: increases the linear operation range of the digital drive by more than 15%, achieving higher velocity, lower position error, and reduced current at high velocities.

Copyright 2001 ACS-Tech80 6 I/O u Safety inputs: one dedicated E-stop, left limit and right limit per axis. u General purpose digital I/O: eight/eight, 5Vdc or 24Vdc single-ended, opto-isolated, can be user- configured as sink or source. Expandable to 256/252 points via the HSSI interface u Position Event Generator (PEG) digital outputs:one PEG pulse per X,Y,Z,T axis (each pulse consumes one of the eight general purpose digital outputs). Four PEG states per X, Y axes. u Registration Mark (position capture) digital inputs: four (each consumes one of the eight general purpose digital inputs), two per X and Y axis. u Mechanical brake outputs: four (can be used as general purpose outputs), single-ended, 1A, opto- isolated, source-type only. SPiiPlus CM - Hardware Overview

Copyright 2001 ACS-Tech80 7 I/O (cont.) u Analog inputs: six, differential, ±1.25V or ±10V, 14-bit resolution. each SIN-COS encoder consumes two analog inputs. u Analog outputs: two, single ended, 10-bit resolution. Communication channels u RS-232: up to 115,000 baud. u RS-232/422/485: up to 115,000 baud. u Ethernet: TCP/IP 10/100 Mb/sec. u CANopen…future SPiiPlus CM - Hardware Overview

Copyright 2001 ACS-Tech80 8 SPiiPlus CM - Control Architecture  One main processor (MPU) - executes high level tasks – profile generation, communication, interface, programs, diagnostics, etc.  One (slaved) servo processor (SPii) - per two axes, executes real-time control algorithms at 20kHz. MPU 586/Pentium MPU cycle 0.5, 1, 2 msec SPii T/D SPii Z/C SPii Y/B SPii X/A SPii cycle 50µsec Interaction with real world Interaction with host computer Flash memory

Copyright 2001 ACS-Tech80 9 SPiiPlus CM – MPU Overview  MPU is Pentium-like x86-based processor in standard PC/104+ format.  4 & 8 axis version provided with 300 MHz processor  On-board RTOS  MPU executes compiled programs in programmable cycle time (0.5, 1, or 2 ms).  Large memory capacities: 8Mb RAM including 1Mb for user programs and 4Mb nonvolatile (flash) memory.

Copyright 2001 ACS-Tech80 10 SPii Overview  SPii = Servo Processor, second generation.  Proprietary ASIC designed by ACS-Tech80 specifically for motion control.  Each SPii controls two axes.  Main characteristics: Integrated RISC + all peripherals. Powerful CPU with 120 MHz, 24-bit bus. Very cost effective. Maximum flexibility – customizable real-time control algorithms.

Copyright 2001 ACS-Tech80 11 SPii Capabilities (cont.) High Speed Hardware Based Position Event Generator (PEG)  PEG triggers external events via outputs at precise positions with submicrosecond delay.  Provides accuracy of ±1 count at up to 5,000,000 encoder quadrature counts/second.  Application examples: printing, AOI, laser cutting. Hardware Position Registration (MARK)  MARK (also known as Position Capture) provides high- speed and high accuracy position registration capability.  MARK provides the ability to move an axis to a target relative to a registration mark.  Once an axis is moving and MARK is detected, the motion profile can be smoothly modified on-the-fly to reach a new target position.  Application example: Packaging.

Copyright 2001 ACS-Tech80 12 SPii Capabilities (cont.) Software Sinusoidal Commutation u Updates at 20kHz - provides very smooth operation. High-Speed Synchronous Serial Interface (HSSI) u Cost effective way to implement a distributed system and expand I/Os through external modules. Uses include: Laser interferometer interface Absolute feedback (for example, resolver) interface Any sensor with serial/parallel communication u Each SPii has a 2.5 MHz synchronous serial bus with 4 x 16 bit inputs and outputs and a refresh rate of 20kHz. Based on RS-485 design. u SPii communicates with HSSI modules through standard Ethernet cable (maximum length 20 meters). u HSSI is a simple protocol enabling users to build customized expansion modules.

Copyright 2001 ACS-Tech80 13 SPiiPlus CM - Operation Options

Copyright 2001 ACS-Tech80 14 HSSI-IO16 - Expansion Module  Cost effective way to implement distributed I/O system  16 opto-isolated inputs  16 opto-isolated outputs  Up to an additional 256-inputs and 252-outputs by daisy chaining modules  Module identification and diagnostics including LEDs  DIN rail or surface mount  Simple programming using SPiiPlus Library or ACSPL+

Copyright 2001 ACS-Tech80 15 HSSI-ED2 Expansion Module  Interface to two remote drivers. Cost effective way to implement a distributed motion system  Includes: Two driver interfaces – with/without SW commutation Two quadrature encoder interfaces (A, B, I) Limit switches interface General purpose I/O interface. Diagnostics including LEDs DIN rail or surface mount Simple programming using SPiiPlus Library or ACSPL+

Copyright 2001 ACS-Tech80 16 How to order – SPiiPlus Control Module SPiiPlus CM- 3 – A – E- M3 – H4 CM: Control Module Number of Drives: 1,2 or 3 Current rating: A 5/10 amp B 10/20 amp Communication: Ethernet & 2 RS-232 No. of sin/cos multipliers: M0, M1, M2, M3 No. of HSSI Channels: blank or H4

Copyright 2001 ACS-Tech80 17 How to order – SPiiPlus Control Module SPiiPlus CM- ACC l Accessory Kit u Includes: l Dsub mating connectors l Phoenix mating connectors l Must be ordered with each Control Module unless the OEM is setup to work without it.

Copyright 2001 ACS-Tech80 18 Thank you.