Ormec SMLC 160, Installation & Operation Manual

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ServoWire Motion & Logic Controller Manual General Description
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Built ‐ in digital and analog I/O
SMLC memory includes:
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128 Mb Dynamic RAM ‐ Random Access Memory (volatile)
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128Mb Removable Compact Flash memory for application program and data storage.
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32 Kb Battery backed static RAM used for non ‐ volatile data storage.
The all ‐ digital ServoWire servo drive provides support for a variety of actuator technologies, including
brushless rotary and linear motors, DC brush motors and voice coils. The drives are configured over the
ServoWire 1394 network, eliminating all manual configuration and offline configuration utilities,
reducing the cost and complexity of maintaining the motion control system.
Software Features
ORMEC has selected the highly reliable QNX Neutrino as the SMLC real time operating system (RTOS).
The use of a RTOS in the SMLC facilitates the integration of new functionality and eases product lifecycle
maintenance by allowing for easy migration to new and more powerful hardware platforms, as they
become available.
To implement the ServoWire Controller’s programming, ORMEC has partnered with 3S to integrate high
performance ServoWire Soft Motion technology with CoDeSys IEC 61131 ‐ 3 software. CoDeSys covers all
five IEC 61131 ‐ 3 standard compliant languages, and is incorporated in over one hundred OEM partner
products. All application motion and I/O control is implemented in a single program running on one
processor, without the delays and timing issues associated with separate processor cards in PCs and PLC
racks.
For the motion control programming, ORMEC has implemented PLCopen Motion Control function
blocks. Powerful features have been added to the open standard motion control function blocks,
allowing motions to be loaded into a motion queue for sequential operation initiated independent of
the I/O scan rate. Motions in the queue can be automatically repeated, simplifying application
programming, and triggered by high ‐ speed sensor inputs at the servo command Loop Rate (faster than
the I/O scan rate). It is also possible to easily superimpose incremental time ‐ based and geared motions
on top of a constant motion gear ratio, without the need to develop cam profiles. For more details, read
the SMLC online help file included with ORMEC’s CDS ‐ SDK, CoDeSys Software Development Kit. The
latest version of the CDS ‐ SDK as well as a demo version is available for download on ORMEC’s web site
at www.ormec.com .
SMLC Support Software
CoDeSys ‐ Development Software
CoDeSys IEC 61131 ‐ 3 programming with PLCopen motion function blocks provides open standard tools
for developing application programs for motion and I/O control. General ‐ purpose I/O options are fully
supported using WAGO's 750 Series and FESTO CPX Series.
The IEC 61131 ‐ 3 standard suite of programming languages provides an integrated set of software tools
and graphical interfaces to meet a wide range of software development needs:
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Relay Ladder Logic (LD)
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Structured Text (ST)
SMLC ‐ 004a 5