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Electric Drives and Controls - Product Catalog
NYCe 4000 - Software
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The software that is available for the NYCe 4000 are:
SAC: Single Axis Control
This programming method looks at all axes as single axes. Programming therefore implies that all movement commands are affecting just one axis. In order to enable the application to implement synchronized movement, functions for grouping axes are available. In this way of programming it is not necessary to define kinematic models. The application also has the freedom to program the system using own, application specific, trajectory generators. For moving axes, functions like homing, point-to-point, jogging and spline are available. Furthermore the system includes functions for system configuration, parameters setting, I/O handling and user specific exception handling.
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PLT: Mechanism control
In case the application does not want to look at the machine as a set of single axes, but as a number of kinematic mechanisms, the pilot software is the package to use. The pilot software implements mechanism for which the user has to supply the kinematic models. Now the user an program al movements of the mechanism in carthesian space. The trajectory generators of the NYCe 4000 calculate the 3D trajectory and via kinematic transformations determine to movement of each axis in the mechanism. This is a way of programming that makes life easier for the application developers. The pilot programming support reference frames for relative position programming and calibration functionality at mechanism level.
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SEQ: Sequence programming
When a fast deterministic response is required, NYCe 4000 offer the possibility to run (part of) the application on the motion control unit instead of on the PC. These applications are also programmed in the C-language and support I/O commands, SAC commands and PLT commands. You can download many sequences to the motion control units flash memory, (memory size it the only restriction). The motion controller is able to support 8 active sequences at any moment. Sequences can synchronize with sequences on other nodes and with application running on the PC. Next to the usage of sequences for fast real-time response, this functionality is also used a lot to build stand-alone systems without a PC with application software. In this situation all application software is stored in Flash in the motion control unit and starts automatically at power-up. Also the implementation of safety algorithms is a good example of the usage of sequences. The reaction time of safety related algorithms is fast and deterministic. During start-up of a machine with the application resident on the PC it is useful to have sequences running that guarantee a safe situation of the motion control system during the period that the PC and its application is starting.
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UDC
NYCe 4000 has a very advanced position-velocity loop with PID, feed forwards, lead/lag and notch filters. This enables to user to tune his axes exactly the way he wants it to behave. Tuning tools in time domain and frequency domain support the user during this tuning process. It can however occur that this standard controller is not optimal for a specific application. This can be because of the mechanical construction that requires other control algorithms, or the usage of multiple (encoder) inputs that need to influence the behaviour. For these special cases, a special controller can be build by the user. The well-known MatLab Simulink package is used to define the controller. Interfaces between this controller and the NYCe 4000 system are offered as so-called Simulink Terminators. These are interface blocks between the user defined controlled and the NYCe 4000 system that allow access to a.o. encoder and I/O values, error handling system and the outputs. Next to these NYCe 4000 specific library blocks also the standard Simulink library blocks can be used. This enables to user to quickly build and test his own specific controllers. After having developed the controller, it can be downloaded to the Motion Controller. Switching an axis configuration parameter from ‘standard controller’ to ‘user controller’ is all that remains to active the controller for a specific axis.
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Simulation
Application software needs to be extensively tested before it can be implemented into a machine. It’s normal operation is one thing to be tested, but even more important is the response to all kind of exceptional situations that might occur. Therefore testing consumes a large portion of the total development time.
This is influenced by 2 main items:
- the availability of a full functioning test machine;
- the difficulty to generate exceptional situations on the machine.
Using the NYCe 4000 simulation environment the test time can be significantly reduced. First of all you do not have the needs anymore to do the application testing on a machine. Machine availability during design phase is therefore not always required anymore. The developer can now test his application on his own development PC, during testing all motion commands are executed with ideal behaviour. Secondly, the simulation part has a programming interface that allows you to feed inputs, axes related data and error situations into to simulation system. In this way it is made a lot easer to test all application responses to exceptional situations without ‘mistreating’ a physical machine in order to create these exceptional situations. Using the simulation package therefore reduce the development time significantly and improve the degree of testing specifically for exceptional situations.
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| NYCe4000 SR-BTS | NYCe4000 Standard Software Release V2.0 | SWA-NY4000-STA-02V00-EN-CD650 |
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