Xtrol - Motion Control Systems

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	Multi-Axis Controllers & Accessories Modular flexible systems with "Stand Alone" and PC-based (single-slot half size card) configurations. 32-bit floating point DSP technology (TI, 60 and 150 MHz) including advanced dynamic computation algorithms of "0" accumulated error and comparable with 56-bit of fix-point calculations. 1 Mbt RAM, 4 and 8 Mbt Flash memory for working programs and parameters configuration storage. Up to 16 axes of AC and/or DC motors and up to 32 axes of stepper motors control. Position, Speed, Torque and Software Commutation closed loop servo control, with self-mapping utilities (no Hall Sensors required). Sophisticated cascaded PID with position, velocity and acceleration feed-forward, second degree filters (low pass and Notch including multi-resonance, several frequencies option), S-curve, "dead zone", etc. Up to 512 Discrete Inputs and Outputs (grouped in 64 programmable I/O 8-bit ports). ISA-bus, RS-232, RS-485(422), USB and fast(15Mb/sec) communication channels. Encoder feedback - standard square wave; sin/cos and resolver - optional. 5 and 10 - hardware (20 and 40 - software) MHz encoder input frequency. One and Dual feedback - software configurable. Up to 64 A/D 12-bit resolution inputs (16-bit resolution - optional). Up to 16 auxiliary pulse count inputs. 1 per axis + up to 32 High-speed position capture (latch) inputs. Real position strobe outputs - "window" signals (up to 4 programmable). Real position pulse train outputs - "tach" signals (up to 4 programmable). Cross axis compensation and temperature compensation. Large choice of different accessory interface boards (relay, SSR, open collector, opto-isolation). Network Support based on COM technology (Client-Server Software). Distributed System Support by means of Communication channels. Multitasking, Object Oriented PLC on the platform. Temperature PID control by means of Standard Function Block. Text Messages with parameters, Commentaries for DSP and host PC communication.



	Controllers for Motor Drivers Special design of control boards for motor drivers for Siemens. Motion package and motor drivers for Yaskawa motors. The controller design is pin-to-pin compatible with Siemens power stage, which simplifies the task of using Siemens latest digital series motors. The controller has Sin/Cos encoder interpolation-multiplication converter (factor 5), allowing direct connection to the built-in Heidenhain encoders with 2048 periods per motor revolution (standard encoders for Siemens ser. 6FT- and 6FK-motors). The controller contains 2 standard +10VDC analog inputs for Sinusoidal commutation made within the controller for optimal operation of AC motors (the standard maximum of 3000 RPM is implemented). The controller is manufacturing in two configurations: single board (SE-767) for control of one motor; dual board (SE-767 and SE-768) for operation of two motors by means of dual motor driver.



	Linear Drivers Output current: 0 - 6 A Output voltage: 0 - 40 V Number of phases for motor connection: 2 and/or 3 Dynamic range (at least): 85 dB Signal to noise (at least): 90 dB Resolution of input signal (from control system): 14 bit for analog (differential) +2.5 V 16 bit for digital synchronous optoisolated channel with baud rate of up to 10 Mbaud Power supply: dual +24 VDC Digital in/out optoisolated control signals (enable, disable, status) Protection: over current, over voltage, over temperature and power fault Dimensions (PCB design, no power supply): 100x46x236 mm (HxWxL)



	Sin/Cos Encoder Converter-Interpolator Input: Sine/Cosine Analog 0.1 to 1.2 Vpp or 11 mApp Input frequency (max): 680 kHz, resolution dependent Output: A quad B (square-wave) incremental + Index + Zero-cross detector signals Multiplication factor: Binary 1, 2, 4, 8, 16, 32, 64, 128,256, 512, 1024, 2048 Decimal 25, 40, 50, 80, 100, 125, 160, 200, 250, 320, 400, 500, 800, 1000, 1600, 2000 Selectable multiplication: I2C-bus interface Digital adjustment: EEPROM configuration Dimensions: 98.5x95.2 mm



	Complete Control Systems Tailored OEM solutions to customer's specifications. More than 35 years of experience in Motion and Program Logic Control field. State of the art technology and algorithms.



	Development Tools Client-Server Software for remote monitoring and control (including RS232, RS422/485 & TCP/IP support). Com Server, providing C/C++/VC++/ANSI C/VB/Delphi API methods for easy applications building. ProMoTCL scripting language (ASCII code text format). Terminal communication utility with scripting commands language (ASCII code text format). G-Code and M-Functions Machine Language. Program editor, Graphical Simulation. PLC Graphical Designer and Debugger. HPGL language support. Virtual Software Operating Panels. MMI - special screens. Motion Analyzer - Graphical Scope for motion tuning & record



	Operation Panels Variety of operation panels were designed in our company according to the machine specific and customer requirements. The Xtrol operation panels are distinguished by their simplicity and convenient human operation. In our panels we are using the best-fit and reliable electronic components with long time operation in heavy industrial conditions without any maintenance or intervention.



	Complete CNC Systems OPERATOR PANEL: Sealed Panel, Flat Panel Graphic Display Uncoded Messages To Operator Mode Selector Feedrate Override From 10% To 100% Spindle Speed Override From 10% to 100% ENTRY AND STORAGE OF PROGRAMS: Exchange by USB and RS232C Serial Link (X2), ISO or EIA Code with Automatic Code Recognition, 64000 Characters Storage Capacity in RAM and 20 GB on Hard Disk, 3-1/2" Program Input and Debugging by Keyboard Full Page Editor Automatic Program Chaining Printer Output DNC Link AXIS CONTROL: 5 Simultaneous Axes (+6th in positioning) Linear, Circular and Helical Interpolation Traverse Rate from 0.0004 In/min to 100 Ft/min (0.01 mm/min to 30 m/min) Controlled Acceleration and Deceleration Backlash Compensation Temperature Compensation SPINDLE CONTROL: Programming in RPM Automatic Spindle Speed Range Selection Spindle Indexing TOOL PROCESSING: Tool Magazine Control Unlimited Number of Tools Tool Radius Offset for Contouring 3 Dimensional Tool Correction Automatic Acquisition of Tool Length PROGRAMMING: Explicit Decimal Point Absolute and Incremental Programming Inch and Metric Programming Programmed Angular Offsets Helical Interpolation Automatic Calculation of Fillets, Chamfers, Intersections and Contact between Straight Lines and Circles Canned Cycle: Drilling, Boring, Tapping Rectangular and Circular User Defined Subroutines Parametric Programming Trigonometrical, Arithmetic Operators Possibility of Unconditional Jumps Different Coordinate System of Programming: Cartesian, Polar, and 3D "Step and Repeat" Recursive Calls



	Electronics Hardware Design & Manufacturing SYSTEM HARDWARE SPECIFICATIONS: 10 Inputs, Optoisolated (up to 10 mA) 4 Inputs, Comparators 4 - 8 V 14 Outputs, Open Collector 40 mA 8 Outputs, Open Drain 1 A Full Protected 1 Analog Input 12 bits Resolution for 1 nA (Optional to 16 bits) 4 Analog Outputs 12 bits Resolution with 4 - 20 mA 4 Analog Outputs 12 bits Resolution with +2.5 V 5 DC Motor Outputs (+Reverse), 16 Speeds, PWM Level of Output USB Communication Interface Channel RS232 Communication Interface Channel RS485 Communication Interface Channel Real Clock Timer Flash Memory, 8 Mbyte DSP of TI, 150 MHz, 32 K Double Word Internal RAM Optional: External Application Bus



	Software and Firmware Design Projects Our software applications team is capable of developing a large variety of projects that invlove motion and logic control, special algorithms, simulation and MMI. For example: CNC Software ToolPath Simulations Spindle Load Graphs Special Servo Loops Customized Control Panel Applications PLC Programming Special DSP Functions etc.