Gold maestro software – ElmoMC Multi-Axis Motion Controller-Gold Maestro User Manual
Page 10
Gold Maestro Installation Guide
Product Description
MAN-GOLD-MAESTRO-IG (Ver. 1.301)
10
2.2.2.
Gold Maestro Software
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Operating System: Linux Operating System, with Elmo’s RT extension for real-time
motion control support
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Motion Programming and Debugging
Native C Programming, running on the target CPU. Compiling and debugging via the
Eclipse IDE using GCC under Cygwin
IEC 61131-3 with PLCopen Motion Library extension, using Elmo IDE. The following
languages are supported:
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(ST), textual
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(FBD), graphical
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(LD), graphical
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(SFC), has elements to organize programs for sequential
and
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Number of Axes: Up to 96 axes, allowing mixed single axis, multiple axis and
coordinated axes motions
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Axis Types
Intelligent Servo Drives (Elmo), supporting both the SimplIQ and Gold lines
Operation in Numeric Control – NC - (real-time master synchronization) as well as
non-NC modes
DS 402 CoE for EtherCAT and standard DS 402 drives for CANopen
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Control System Update Rate
EtherCAT
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Cycle Update Rate: ≥ 500 µs (up to 16 axes can be updated simultaneously at a rate
of 500 µs)
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Cycle Jitter: < 1 µs, based on Master DC (Distributed Clock) support, for the full
network
CAN
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Cycle Update Rate ≥ 1 ms (CAN physical network limitations only)
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Cycle Jitter: < 100 µs for CAN Sync message initiation (actual jitter dependant on the
CAN network’s physical limitations)
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Motion Modes and Interfaces: The Gold Maestro motion interfaces use the PLCopen
Standard.
64 bit, real-time, double precision profile calculations, allowing full on-the-fly control
over speed, acceleration, deceleration and jerk
Complex motion schemes, including look-ahead optimizing of trajectory speed
calculations, for complex vector motions
Cyclic buffer for 1,000 function blocks (a buffer for 1,000 motion segments). The cyclical
buffer removes any practical limit on the number of function blocks.
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Communication Protocols
Host
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Ethernet TCP-IP/UDP for operational modes