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

2. 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

3. Cables and connectors Cable partstype (connector)SCEMQtyMounted inEncoder/motorPrice/unitPrice/lot BURNDY UTO 0-12-8P-21Tchassis, male09.31.05.116.05Cam moverEncoder8.8 CHF44CHF BURNDY UTO 0-12-8S-21Tchassis, female09.31.05.120.45RackEncoder8.6 CHF43CHF BURNDY UTO 0-12-5P-21Tchassis, male09.31.05.108.05Cam moverMotor13 CHF65CHF BURNDY UTO 0-12-5S-21Tchassis, female09.31.05.110.65RackMotor8.6 CHF43CHF BURNDY UTO 6AC-12-8P-22Tcable, male09.31.05.216.75MCA 08Encoder16 CHF80CHF BURNDY UTO 6AC-12-8S-22Tcable, female09.31.05.220.15MCA 08Encoder17 CHF85CHF BURNDY UTO 6AC-12-5P-22Tcable, male09.31.05.210.35NG8Motor17 CHF85CHF BURNDY UTO 6AC-12-5S-22Tcable, female09.31.05.212.15NG8Motor29.5 CHF147.5CHF MCA0804.21.48.308.95 x ?mEncoder1.1 CHF/m NG804.21.52.190.85 x ?mMotor2.3 CHF/m Total costs with 10 m cables:653.5CHF

4. System with real-time control PartQty.Unit priceDiscountAmountConversion to CHF cRIO-9068 8-Slot Integrated Controller and Chassis System, Artix-7 FPGA1 3999.00$12.00%3519.12$3343.16 3519.12$ NI 9915 DIN Rail Mounting Kit for 8-slot cRIO/cDAQ Chassis1 31.00$12.00%27.28$25.92 27.28$ NI PS-15 Power Supply, 24 VDC, 5 A, 100-120/200-240 VAC Input1 221.00$12.00%194.48$184.76 194.48$ NI PS-17 Power Supply, 24 VDC, 20 A, Universal Power Input1 479.00$12.00%421.52$400.44 421.52$ SISU-1004 4-axis stepper motor controller (C-series module)2 999.00$0.00%1998.00$1898.10 999.00$ RJ45 BREAKOUT FOR SISU-10045 39.00$0.00%195.00$185.25 39.00$ CABLE FOR SISU-1004, SHIELDED, SNAGLESS, WHITE, 7FT5 15.00$0.00%75.00$71.25 15.00$ SEA 9521 BiSS Interface Module2 1168.00€0.00%2336.00€2546.24 1168.00€ Shipping DHL express 2 kg international1 124.00€0.00%124.00€135.16 124.00€ NI 9207 8-ch (current) + 8-ch (voltage) combo module, 24bit with 50/60Hz rejection 1 640.00$12.00%563.20$535.04 563.20$ NI 9923 37 pin DSub terminal block for screw terminal connectivity to 37 pin DSub C Series modules 1 134.00$12.00%117.92$112.02 117.92$ Cables and connectors653.5 Total (CHF)10090.84

5. System without real-time control PartQty.Unit priceDiscountAmountConversion to CHF cRIO-9064 4-Slot Integrated Controller and Chassis System, Artix-7 FPGA1 1999.00$12.00%1759.12$1671.16 1759.12$ NI 9915 DIN Rail Mounting Kit for 4-slot cRIO/cDAQ Chassis1 31.00$12.00%27.28$25.92 27.28$ NI PS-15 Power Supply, 24 VDC, 5 A, 100-120/200-240 VAC Input1 221.00$12.00%194.48$184.76 194.48$ NI PS-17 Power Supply, 24 VDC, 20 A, Universal Power Input1 479.00$12.00%421.52$400.44 421.52$ SISU-1004 4-axis stepper motor controller (C-series module)2 999.00$0.00%1998.00$1898.10 999.00$ RJ45 BREAKOUT FOR SISU-10045 39.00$0.00%195.00$185.25 39.00$ CABLE FOR SISU-1004, SHIELDED, SNAGLESS, WHITE, 7FT5 15.00$0.00%75.00$71.25 15.00$ SEA 9521 BiSS Interface Module2 1168.00€0.00%2336.00€2546.24 1168.00€ Shipping DHL express 2 kg international1 124.00€0.00%124.00€135.16 124.00€ Cables and connectors653.5 Total (CHF)7771.78

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