FlexLink X45 Руководство пользователя - Manual (Page 19)

Functions
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3 Functions
3.1 Motors
The control system of the platform X45e is structured in an object oriented
way. All motors in the platform have embedded control units and local sen-
sors are connected directly to each motor unit. This layout gives a big ad-
vantage regarding software developing, electrical design and electrical in-
stallation.
3.1.1 Function control
The motor unit consists of a motor, circuit boards and eight connectors in
an encapsulated housing. There are two types of motor units, the drive unit
and the function unit. All that differs on these variants are the motor and the
mechanical housing.
The drive unit has a permanent magnetic (PM) motor and the function unit
has a stepper motor with an analogue position feedback sensor. An em-
bedded microprocessor is dedicated for the application control. Local sen-
sors are connected directly to this unit.
The motors can be autonomously controlled only by the input of the local
sensors or controlled from a line controller over a CANopen network.
The motor unit has also a LED on each side indicating its status. If the mo-
tors are in autonomous mode they only need power (24VDC) to work prop-
erly.
3.1.2 Line control
If a line controller is used up to 127 motors can be interlinked via an exter-
nal CANopen network. RFID reader/writers can be connected to the line
controller via a separate network (Profibus, DeviceNet or Ethernet). All dy-
namic route handling has to be implemented in the line controller.
The main electrical cabinet supplies the motor units with power, 24 VDC.
The power is divided in safe and continuous power in order to have the pos-
sibilities to implement emergency or safety stops