Multi-Axis Supervisor

McFarland Associates offers a network-based, multi-axis motion controller that operates in conjunction with intelligent servo drives to provide a comprehensive system-based solution.

The Multi-Axis Supervisor is based on efficient and cost effective distributed motion control architecture to share the motion processing workload. It contains a rich feature set which combines sophisticated motion control, advanced communication and full programming capabilities.

Distributed Motion Control Architecture

The Multi-Axis Supervisor distributed motion control architecture enables allocation of the workload between the controller and the intelligent servo drives. Within this architectural framework, the Multi-Axis Supervisor role is primarily a managerial one with responsibilities that include network management and access, motion control synchronization and trajectory manipulation. The servo drives are responsible for the servo loops (current, velocity, position) with single or dual feedbacks, deployment of local filters, local programming and execution as well as the other functions.

 

 

 

 

Multi-Axis Supervisor Advantages

• Load balancing on thesystem by distributing the intelligence between the controller and the intelligent drives
• Flexibility to add up to 48 drives on a single bus with only a simple Maestro re-configuration
• Reliability by using digital command signals on a real-time deterministic networking
• Comprehensive diagnostics of the network and individual drives
• Cost effectiveness by reducing expenses on wiring and space requirements, and offering a simple and dependable solution
• Reduced cost of ownership by eliminating the need for dedicated motor, drive and controller

Multi-Axis Supervisor Functionality

CAN Network Master

• Enables network configuration
• Recognizes existing CAN devices
• Maps CAN devices according to working mode
• Sends and receives CAN messages using standard CANopen communication objects
• Processes CAN Emergency messages
• Provides heartbeat control
• Synchronizes the clock via a SYNC / Timestamp mechanism
• Communicates with CAN devices using CANopen protocols DS301, DS305, DS401 and DS402
• Network management

Axis Functions

• Sends commands to motion objects simultaneously
• Synchronizes start and stop motion
• Monitors motion complete and drives events by mechanism callback function
• Sends notification messages to external host
• Contains a motion library which:
  • Creates motion trajectories for 1 and 2 dimensions
  • Resolves geometric and kinematical problems
  • Uses the Maestro proprietary program language to create PVT trajectories
  • Builds trajectories from motion primitives such as line, circle arc, polyline and spline
  • Inserts chamfering and corner rounding blocks automatically according to user definition

Host Communication

• Communicates with host applications via:
  • Ethernet TCP/IP
  • RS-232
• Carries out processes such as:
  • Interpreter command processing
  • Maintenance and file download/upload
  • Status requests and debugging user program
  • Direct-axis interpreter command processing gateway, "transparent path" to any drive

User Programs

• Behaves as a fully programmable motion controller
• Enables multi-axis programming
• Multi-threaded program execution
• Offers a simple programming language