Elmo Gold Maestro G-MAS, Software User Manual

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G ‐ MAS – Gold Maestro Software User’s Manual Software User Manual
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Digital servo drives control and drive motors, with each drive generally responsible for a single axis
(control, motions, safety, limits, etc.), as well as some I/Os that may be connected to the digital servo
drive. With Elmo intelligent digital servo drives, each drive can be programmed to perform simple
and advanced processes, which is only limited to axis level process (in contrast to machine, or multi ‐
axes level).
I/O controllers and other devices can be added to the device network.
The host computer (or PLC, HMI panel) is responsible for user interfaces and high ‐ level machine
processes, whereas the digital servo drives (and I/Os controllers) execute axis or I/O level processes.
Therefore, an intermediary layer is necessary to perform the machine’s sequences and multi ‐ axis
synchronized motions. This is exactly where the G ‐ MAS comes in.
The G ‐ MAS is located in the intermediary layer. It receives high ‐ level commands from the host
computer, performs the required machine sequences, calculates multi ‐ axis motions and,
opportunely, communicates via the device network to synchronously send commands to each axis.
Obviously, the G ‐ MAS also collects statuses from the network devices and in turn sends its own
statuses to the host computer.
From the network devices view, the G ‐ MAS is important, since each network device views only a very
narrow (axis, I/O) portion of the overall system and therefore cannot create or control overall system
sequences or multi ‐ axis synchronized motions. The network devices require a device like the G ‐ MAS
to take this responsibility.
From the host computer (or PLC, HMI Panel) view, the G ‐ MAS is not as important, as in theory, one
can implement all the functions of the G ‐ MAS into the host computer. However, this entails a variety
of significant drawbacks e.g. huge development time, significant risks, non ‐ modular implementation,
“inventing the wheel” etc. that are easily and elegantly solved using the G ‐ MAS.
With its turnkey, in ‐ built functionality (standard implementation of: PLCopen motions, Ethernet
communications, CANopen, CANopen over EtherCAT, etc.) and support for C user programs, to easily
implement a multi ‐ axis motion control system, you only need to write your first C program for the G ‐
MAS. This is probably why you are now reading this manual…
1.2. G-MAS Features
The following presents some of the G ‐ MAS features. You may refer to Elmo’s website at
www.elmomc.com for additional detailed information and brochures.
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High performance, distributed multi ‐ axis network controller, with real ‐ time extension of the
Linux operating system.
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Controls up to 100 axes over device network with a high level of synchronization and accuracy.
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Host communication channels and protocols:
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Ethernet, TCP/IP, UDP (fast binary protocols, MODbus, Ethernet/IP, Telnet, FTP, HTTP)
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USB 2.0
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Device networks (fieldbuses) and protocols:
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EtherCAT real ‐ time device networking (CoE, Distributed clock), or: