KPA Motion Flyer

KPA Motion
for EtherCAT®
Date: 2014/02/13
The KPA Motion library for EtherCAT controls drives using “C” API. It is an extension to the KPA
EtherCAT Master and available for various operating systems.
1. Runtime Software
KPA Motion Libraries – HIGHLIGHTS of all Packages
 Trajectory generated online in one cycle based on Reflexxes Motion Library *)
 Instantaneous reaction on events
 Jerk limited using spline interpolation
 No transition (blending) window
 Cyclic synchronous position mode (no stop)
 Feed forward control of velocity and torque
 High level move - commands in „C“-style
 Handling of DS 402 drives
 Interface to simulation tool V-REP **)
1. Linear Motion (LiM)
Applications: single axis drive control, e.g. pressing, drilling
Functionality:
 Linear Movement of single axis
 Program Coordinate System (PCS)
Requirement: KPA Master Standard 1.5 or higher
2. Coordinated Motion (CoM)
Applications examples: bending, welding, drilling, milling
Functionality:
 All LiM functionalities
 Multi-axes servo drive control with coordinated X,Y,Z axes
 Instantaneous transformations between Program Coordinate System (MCS) for 2D, 3D applications
 Coordinated motion in cylinder and polar coodinates
 Circular and helical motions
Requirement: KPA Master Standard 1.5 or higher
KPA Quality Management System is certified according to DIN EN ISO 9001:2008
Copyright© 2013-2014 koenig-pa GmbH. All rights reserved.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
KPA Motion uses the patented Reflexxes Motion Library of Reflexxes GmbH, Germany
www.koenig-pa.com
KPA Motion
for EtherCAT®
Date: 2014/02/13
3. Supported Features of LiM and CoM
The following commands apply to groups of axes. For most commands single-axis motion commands are
also possible. The default Coordination System (CS) is the Machine Coordinate System (MCS).
3.1 Initialization/release
KMC_Create:
KMC_Release:
3.2 Administrative functions
KMC_Power:
KMC_Reset:
Creates a motion instance
Releases a motion instance
Switches power „On“ or „Off“
Transits from 'ErrorStop' to 'Standstill‘ or 'Disabled' state
by releasing all internal errors of all axes
KMC_Disable:
KMC_Enable:
KMC_ReadStatus:
Changes the state from 'Standstill' to 'Disabled'
Changes the state from 'Disabled' to 'Standstill'
Gets status of the state diagram
KMC_ReadAxisError:
KMC_ErrorDescription:
Returns drive error codes of all axes
Returns error code description for given error codes
KMC_ReadActualPositionCS:
KMC_ReadActualPosition:
KMC_ReadActualVelocity:
Returns the actual position values of a group with respect to a chosen
coordinate frame
Returns the actual velocity values of a group with respect to a chosen
coordinate frame
Returns the actual position with respect to ACS
Returns the actual velocity with respect to ACS
KMC_ReadBool/INT/Parameter:
KMC_WriteBool/INT/Parameter:
Returns boolean, integer, or float value of specific parameter
Sets boolean, integer, or float values to a given value
KMC_SetOverride:
KMC_SetPosition:
Sets the values for override
Shifts the coordinate system PCS
KMC_SetCartesianTransforms:
Transforms from MCS to PCS for 2D and 3D (CoM)
KMC_ReadActualVelocityCS:
3.3 Motion functions
KMC_Halt:
KMC_Home:
KMC_MoveCircularAbsolute:
KMC_MoveLinearAbsolute:
KMC_MoveLinearVelocity:
KMC_MoveHelicalAbsolute:
KMC_Stop:
KMC_TouchProbe:
KMC_SetDynamicModel:
Stops moving and transfers state to ‘Standstill’
Searches home using selected homing method
Moves axes circular to an absolute position
using circle center point on the border or radius (CoM)
Moves axes linear to a specified absolute position
Moves axes linear with a specified velocity
Performs helical movement (CoM)
Stops movement via ramp and transfers to state ‘Stopping’
Records positions at trigger event
Set the parameters of an optional custom dynamics model that
is used for feed forward torque and velocity control
KPA Quality Management System is certified according to DIN EN ISO 9001:2008
Copyright© 2013-2014 koenig-pa GmbH. All rights reserved.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
KPA Motion uses the patented Reflexxes Motion Library of Reflexxes GmbH, Germany
www.koenig-pa.com
KPA Motion
for EtherCAT®
Date: 2014/02/13
2. Design Tools
1. KPA Motion Configurator
Plugin to KPA Studio with two function groups
Offline configuring
Grouping of axes, selection of drive profiles, setting of parameters, and mapping to process image
Online test
Controls with command and status for moving, homing and jogging
Requirement: KPA Studio Premium Version 1.13 or higher
2. KPA Chart 2
Plugin to KPA Studio
Multi axis real-time chart control, xy-diagram, multiple scaling axes.
Requirement: KPA Studio Premium 1.13 or higher; KPA Master Standard 1.7 or higher
3. MoDK
MoDK enables the development of linear and coordinated motion applications
for a hardware class on a specific OS.
It thus extends Master Development Kit (MDK) by KPA Motion.
It Includes
1. Master Development Kit (MDK) including licenses for
a. Master for chosen OS and hardware
i. 1 Master Full
ii. 2 Master Standard or Premium upon request
iii. 2 CoM
b. Studio
i. 1 Studio Premium
ii. 1 KPA Motion Configurator
iii. 1 KPA Chart 2
2. Several motion samples in source code
3. Documentation
a. Motion API
b. User Guide for Motion Configurator
4. Simulation V-REP **)
a. Viewer
b. V-REP sample Model for 2 axes
Remarks:
i. All Motion libraries have V-REP interface integrated
ii. Further models are offered as service
5. 2 years of support and maintenance
KPA Quality Management System is certified according to DIN EN ISO 9001:2008
Copyright© 2013-2014 koenig-pa GmbH. All rights reserved.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
KPA Motion uses the patented Reflexxes Motion Library of Reflexxes GmbH, Germany
www.koenig-pa.com
KPA Motion
for EtherCAT®
Date: 2014/02/13
3. Ordering information
3.1 Motion Development Kit (MoDK)
7
Design
Software
Kit
3 = MoDK,
4 = MoDK Trial
OS
Code of OS
VVV
Version of OS
Code of OS
OS
2
5
6
7
9
10
13
Xenomai
RTX
INtime
Linux Posix rt-preempt
Windows XP-Vista-W7
QNX
VxWorks
HW Platforms
0 = intel
1 = freescale
2 = ARM
3.2 Examples for MoDK
Product types
7302 2621
7410 6500
KPA Motion Libraries
MoDK for Xenomai Version 2.6.2 on freescale
MoDK trial for QNX Version 6.50 on intel
Comment
2014/Q1
3.3 Motion Library
70
Group
HW - Class
Number of Instances
Runtime
6 = Motion
9: Default
10 for LiM
1 for CoM
Degree Of
Freedom
1 for LiM
3 for CoM
3.4 Examples for Motion Library
Product types
7064 9101
7067 9403
KPA Motion Libraries
10 instances of LiM (Single Axis Motion)
4 instances of CoM (Coordinated Motion)
Comment
*) Reflexxes RML is a patented motion library owned by Reflexxes GmbH, Germany
**) from coppelia robotics
KPA Quality Management System is certified according to DIN EN ISO 9001:2008
Copyright© 2013-2014 koenig-pa GmbH. All rights reserved.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
KPA Motion uses the patented Reflexxes Motion Library of Reflexxes GmbH, Germany
www.koenig-pa.com

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