TG motion consists of three basic software modules:
Virtual PLC is basic control module, which controls all logical function of a machine, servo-controllers and CNC module. PLC programming is realized in programming languages with supporting dll native library (C++, Delphi, etc.).
PLC module can control other devices via EtherCat or via CAN BUS by SDO objects.
Virtual PLC accesses to memory space, where are shared registers of inputs and outputs and control registers of the servoamplifiers and CNC module.
It is necessary to write a PC panel program – a Win32 application, which allows control, diagnostics and service of the machine.
|Parametres of virtual PLC|
|Number of parallel running programs||4|
|Period of starting individual programs||set in 100 µs|
|Setting priority of programs||yes|
|Internal PLC memory size (shared memory)||64 kB|
|Support for real arithmetic||yes|
|Number of independent timers (1ms)||40|
This module arranges communication with up to 24 servo-controllers via CAN BUS or via EtherCat. The module includes motion functions called by Virtual PLC-Positioning (absolute, relative), Electronic gears, Electronic cam shaft.
The module arranges communication via CAN BUS or EtherCat communication interface with digital, analogue and special input and output terminals.
Module PLC to CNC ensures parameterisation, control and monitoring of the CNC module.
CNC module ensures Real Time transformation of the end point position to servo axis position according to the required trajectory. Parameters of a mechanism are defi ned in data CNC fi le. CNC module can make transformation of up to 3 CNC kernels – so it is possible to control up to 3 independents mechanisms. Trajectories are possible to download from a G-code or from a profi le generator. Thanks to the fact the algorithm of transformation is Real Time it is possible to change position profi le even if the mechanism is moving. Final position can be change according to a sensor or camera status.
The data CNC fi le is created in program SPARK. The fi le is created from geometrical shape of a machine from CAD systems or manually by means of implemented tools. Required parameters are e.g. type of the axis – linear or rotate, ratio, lead. SPARK has own tool for creating and simulation of the motion trajectories. It is possible to see position and speed of the end point of the mechanism or in separated axis. A trajectory can be created from linear, circuit and spline parts, DXF files and G-codes..