Volume 1 AxesBrain Motion System Motion system A x e s B r a i n Motion system AB&T Tecnologie Informatiche Via dell’About, 2/A • 10015 Ivrea Fax +39 0125 234397 www.bausano.net [email protected] Legal notice The information in this document, including URLs and other references to the Internet website, can be changed without prior notification. Unless otherwise indicated, references to companies, organizations, products, persons and events are completely fictitious and unrelated to real companies, organizations, products, persons and events. AB&T Tecnologie Informatiche is entitled to register, license, apply for copyright or trade marks and affirm its intellectual property rights with regard to all the topics dealt with in this document. 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Contents Introduction i Synchronization instructions 7 Indication instructions 8 CHAPTER 1–Motion system - Service instructions 9 Architecture 1 Intructions for integrtation with foreign Interface devices 2 environments 10 Services (DCOM) 3 Coordinates and anti-collision systems 4 CHAPTER 4 – CNC (AxesBrainISO)- Plant configuration 5 Architecture 1 Sampling 6 Physical axes link 2 OEM Capability 7 Work plane 3 User interface 8 Motion functions 4 Integration with vision inspection 9 G functions 5 M functions 6 CHAPTER 2–AxesBrainServer services - T functions 7 Basic system functions 1 F, S and O functions 8 Axes and spindles functions 2 Program control instructions 9 Functions for signals 3 Subsystem functions 5 CHAPTER 5 - PLC(AxesBrainAWL) - Plant indication functions 6 Architecture 1 System configuration functions 7 Types of data and addressing modes 2 Server events 8 Contact instructions 3 Access with AxesBrainBase (DLL library) 9 Timer and counter instructions 4 and AxesBrainCom (OCX library) Mathematical instructions 5 Increment and transfer instructions 6 CHATPER 3 – Automation (AxesBrainL)- Program control instructions 7 Architecture 1 Logic stack instructions 8 Language syntax 2 Boolean instructions 9 Global and local variables 3 Multitasking and anti-collision systems Mathematical logic instructions 5 Control instructions 6 Motion instrucitons 7 I/O instructions 8 CHAPTER 6 Environment APPENDIX A (AxesBrainStudio)- Virual axes Architecture 1 APPENDIX B Basic applications 2 Ganrty axes OCX applications 3 APPENDIX C HTML applications 4 Axis control with handwheel APPENDIX D Electronic cams APPENDIX E Continuous motion APPENDIX F Integration with vision inspection Introduction AxesBrain motion system The AxesBrain system was developed to offer motion control services to user applications, utilizing “DCOM” technology, thus making it possible to provide access to the services not only from the PC in question, but also from PCs networked in LANs and connected over the Internet. here are essentially two approaches to be taken in order to utilize motion control services, either using the functions directed to axes and spindle resources and I/O signals, or making use of programmed cycles. Axes path and manipulation and processing task cycles or procedures are T defined by means programming languages; in our case we have three languages at our disposal: AxesBrainL, AxesBrainISO and AxesBrainAWL, which the user can adopt depending on the type of application in question. It is also possible to integrate, as a library, functionalities or even processes for the management of work cycles that are tailored to meet specific needs, completely developed by the user. The motion control services are as follows: • Direct FUNCTIONS o commands transmitted to axes and to I/O signals o acquisition of field values, reading of axes, I/O, transducers, etc. o programming of modes for trajectories, acquisitions, etc. • processing and manipulation CYCLES programmed by means of o AxesBrainL – Proprietary language suitable for describing manipulation cycles for generic automations o AxesBrainISO – ISO standard language suitable for describing the processing cycles typically associated with milling, boring and turning operations. o AxesBrainAWL – AWL language to describe PLC cycles • Special “OEM” FUNCTIONS • processing and manipulation CYCLES with programming of special “OEM” procedures 4 AxesBrain is structured as a series of functional modules in such a way as to achieve the maximum flexibility in terms of management of devices, user interface characteristics, and performance features. AxesBrain is divided as follows: • “AxesBrainOpenEnviroment” module for driving interface devices; in addition to the management of several ranges of commercial devices, this module was developed in an open architecture system so as to allow the devices to be expanded in accordance with changing requirements of users. • “AxesBrainServer” basic module, supplier of system services in “DCOM” technology. • “AxesBrainOpenTemplate” basic classes module to allow the user to develop new performances, both in terms of functions and procedures. • “AxesBrainBase” interface module for connection with services for applications in Visual Basic or Visual C++ • “AxesBrainCom” interface module for connection with services for HTML user pages or for applications compiled in any of the various programming languages. • “AxesBrainStudio” user interface environment, this module allows the creation of highly personalized user interfaces. 5 AxesBrain architecture 64 Axes 32 Spindles 1024 Digital inputs 1024 Digital outputs 128 Analog inputs 128 Analog outputs 128 Counters Images for measurements and 128 Timers recognition 1-Carriers+IP Industrial Pack 2-USB Controller 1-PC Axis Board 1-Frame grabber PCX 200 3-Encoder 2-OEM Encoder + Analog DAC 2-Frame grabber P610 4-Analog DAC 3-OEM 1394 Axis controller 4-OEM Axis controller 5-USB SEB I/O VisAlgo OpenEnviroment access and pilot Driver AxesBrainOpenEviroment - Driving of interface devices Functions and cycles for AxesBrainOpenTemplate AxesBrainL AxesBrainISO AxesBrainAWL image data processing and Automation CNC PLC - OEM Capability analysis Remote or Programmed motion cycles Local VisAlgo Connection OEM capabilities Direct commands and Programmed cycles 1 - VisAlgoBase DLL Library Access Functions system resources and instructions access 2 – VisAlgoCom OCX Library access function functions AxesBrainServer DCOM - Handling system services Remote or Local Connection AxesBrainBase DLL Library AxesBrainCom OCX User Cycles Library Basic Applications Visual Basic User Applications OCX User HTML User Applications Applications HTML User Applications Visual C++ / Visual C# User Applications AxesBrainStudio – Applications and User Cycles Container Environment Figure 1 6 Chapter 1 Motion system The motion system is the controller of all the resources and the supervisor of the motion functionalities requested either directly or by way of processing cycles programmed utilizing the three programming languages; in addition, it can integrate, in the form of a library, functionalities and the work cycles management processes, completely developed by the Customer. During the desoign stage, particular attention was devoted to the scalability of the system in terms of devices, functions, plant and user interface. The requirements of the environment in which a handling system is installed are numerous, ranging from: • the type of motors: dc motors, stepper motors, brushless motors, linear motors, etc. • the motor control system: analog drives, digital drives, etc. • the type of electronic devices that make it possible to access the motor drives: PCAxisBoard, PCFieldBus, PCEncoderBoard, PCAnalogBoard , etc. • the type of PC bus: PCI, AT, 104, CompactPCI, etc • the type of operating system Windows 98, Windows Me, Windows 2000 The AxesBrain system is designed to introduce the maximum flexibility into the scenario described above, creating a layer denominated AxesBrainOpenEnviroment , which contains a series of modules designed to drive various commercial devices, and a basic class in order to facilitate the development and integration of new devices. This makes it possible also to separate the driver environment from the applications. 7 A basic requisite of a motion control system is that it must be able to supply its services to a plurality of users, potentially resident on remote PCs; this requirement is filled by the Distributed Component Object Module (DCOM) technology utilized in the implementation of the AxesBrainServer . Although the system provides a broad band of functionalities, it is impractical to be able to develop responses for the entire range of