StepMotor&ServoMotorSystemsandControlsMotionArchitectSoftwareDoestheWorkforYou.Configure,Diagnose,DebugCompumotorsMotionArchitectisaMicrosoftWindows-basedsoftwaredevelopmenttoolfor6000Seriesproductsthatallowsyoutoautomaticallygeneratecommentedsetupcode,editandexecutemotioncontrolprograms,andcreateacustomoperatortestpanel.TheheartofMotionArchitectistheshell,whichprovidesanintegratedenvironmenttoaccessthefollowingmodules.SystemConfiguratorThismodulepromptsyoutofillinallpertinentset-upinformationtoinitiatemotion.Configurabletothespecific6000Seriesproductthatisselected,theinformationisthenusedtogenerateactual6000-languagecodethatisthebeginningofyourprogram.ProgramEditorThismoduleallowsyoutoeditcode.Italsohasthecommandsavailablethrough“Help”menus.Ausersguideisprovidedondisk.TerminalEmulatorThismoduleallowsyoutointeractdirectlywiththe6000product.“Help”isagainavailablewithallcommandsandtheirdefinitionsavailableforreference.TestPanelYoucansimulateyourprograms,debugprograms,andcheckforprogramflowusingthismodule.MotionArchitecthasbeendesignedforusewithall6000Seriesproductsforbothservoandsteppertechnologies.TheversatilityofWindowsandthe6000Serieslanguageallowyoutosolveapplicationsrangingfromtheverysimpletothecomplex.MotionArchitectcomesstandardwitheachofthe6000Seriesproductsandisatoolthatmakesusingthesecontrollersevenmoresimpleshorteningtheprojectdevelopmenttimeconsiderably.Avalue-addedfeatureofMotionArchitect,whenusedwiththe6000ServoControllers,isitstuningaide.Thisadditionalmoduleallowsyoutographicallydisplayavarietyofmoveparametersandseehowtheseparameterschangebasedontuningvalues.UsingMotionArchitect,youcanopenmultiplewindowsatonce.Forexample,boththeProgramEditorandTerminalEmulatorwindowscanbeopenedtoruntheprogram,getinformation,andthenmakechangestotheprogram.On-linehelpisavailablethroughoutMotionArchitect,includinginteractiveaccesstothecontentsoftheCompumotor6000SeriesSoftwareReferenceGuide.SOLVINGAPPLICATIONSFROMSIMPLETOCOMPLEXServoControlisYourswithServoTunerSoftwareCompumotorcombinesthe6000SeriesservocontrollerswithServoTunersoftware.TheServoTunerisanadd-onmodulethatexpandsandenhancesthecapabilitiesofMotionArchitect.MotionArchitectandtheServoTunercombinetoprovidegraphicalfeedbackofreal-timemotioninformationandprovideaneasyenvironmentforsettingtuninggainsandrelatedsystemparametersaswellasprovidingfileoperationstosaveandrecalltuningsessions.DrawYourOwnMotionControlSolutionswithMotionToolboxSoftwareMotionToolboxisanextensivelibraryofLabVIEWvirtualinstruments(VIs)foricon-basedprogrammingofCompumotors6000Seriesmotioncontrollers.WhenusingMotionToolboxwithLabVIEW,programmingofthe6000Seriescontrollerisaccomplishedbylinkinggraphicicons,orVIs,togethertoformablockdiagram.MotionToolboxshasalibraryofmorethan150command,status,andexampleVIs.AllcommandandstatusVIsincludeLabVIEWsourcediagramssoyoucanmodifythem,ifnecessary,tosuityourparticularneeds.MotionTprehensiveMSoftwareforComputer-AidedMotionApplicationsCompuCAMisaWindows-basedprogrammingpackagethatimportsgeometryfromCADprograms,plotterfiles,orNCprogramsandgenerates6000codecompatiblewithCompumotors6000Seriesmotioncontrollers.AvailableforpurchasefromCompumotor,CompuCAMisanadd-onmodulewhichisinvokedasautilityfromthemenubarofMotionArchitect.FromCompuCAM,runyourCADsoftwarepackage.Onceadrawingiscreated,saveitaseitheraDXFfile,HP-GLplotfileorG-codeNCprogram.ThisgeometryisthenimportedintoCompuCAMwherethe6000codeisgenerated.Aftergeneratingtheprogram,youmayuseMotionArchitectfunctionssuchaseditingordownloadingthecodeforexecution.MotionBuilderSoftwareforEasyProgrammingofthe6000SeriesMotionBuilderrevolutionizesmotioncontrolprogramming.Thisinnovativesoftwareallowsprogrammerstoprograminawaytheyarefamiliarwithaflowchart-stylemethod.MotionBuilderdecreasesthelearningcurveandmakesmotioncontrolprogrammingeasy.MotionBuilderisaMicrosoftWindows-basedgraphicaldevelopmentenvironmentwhichallowsexpertandnoviceprogrammerstoeasilyprogramthe6000Seriesproductswithoutlearninganewprogramminglanguage.Simplydraganddropvisualiconsthatrepresentthemotionfunctionsyouwanttoperform.MotionBuilderisacompleteapplicationdevelopmentenvironment.Inadditiontovisuallyprogrammingthe6000Seriesproducts,usersmayconfigure,debug,download,andexecutethemotionprogram.SERVOVERSUSSTEPPER.WHATYOUNEEDTOKNOWMotorTypesandTheirApplicationsThefollowingsectionwillgiveyousomeideaoftheapplicationsthatareparticularlyappropriateforeachmotortype,togetherwithcertainapplicationsthatarebestavoided.Itshouldbestressedthatthereisawiderangeofapplicationswhichcanbeequallywellmetbymorethanonemotortype,andthechoicewilltendtobedictatedbycustomerpreference,previousexperienceorcompatibilitywithexistingequipment.AhelpfultoolforselectingthepropermotorforyourapplicationisCompumotorsMotorSizingandSelectionsoftwarepackage.Usingthissoftware,userscaneasilyidentifytheappropriatemotorsizeandtype.Hightorque,lowspeedcontinuousdutyapplicationsareappropriatetothestepmotor.Atlowspeedsitisveryefficientintermsoftorqueoutputrelativetobothsizeandinputpower.Microsteppingcanbeusedtoimprovesmoothnessinlowspeedapplicationssuchasameteringpumpdriveforveryaccurateflowcontrol.Hightorque,highspeedcontinuousdutyapplicationssuittheservomotor,andinfactastepmotorshouldbeavoidedinsuchapplicationsbecausethehigh-speedlossescancauseexcessivemotorheating.Short,rapid,repetitivemovesarethenaturaldomainofthestepperduetoitshightorqueatlowspeeds,goodtorque-to-inertiaratioandlackofcommutationproblems.ThebrushesoftheDCmotorcanlimititspotentialforfrequentstarts,stopsanddirectionchanges.Lowspeed,highsmoothnessapplicationsareappropriateformicrosteppingordirectdriveservos.Applicationsinhazardousenvironmentsorinavacuummaynotbeabletouseabrushedmotor.Eitherastepperorabrushlessmotoriscalledfor,dependingonthedemandsoftheload.Bearinmindthatheatdissipationmaybeaprobleminavacuumwhentheloadsareexcessive.SELECTINGTHEMOTORTHATSUITSYOURAPPLICATIONIntroductionMotioncontrol,initswidestsense,couldrelatetoanythingfromaweldingrobottothehydraulicsysteminamobilecrane.InthefieldofElectronicMotionControl,weareprimarilyconcernedwithsystemsfallingwithinalimitedpowerrange,typicallyuptoabout10HP(7KW),andrequiringprecisioninoneormoreaspects.Thismayinvolveaccuratecontrolofdistanceorspeed,veryoftenboth,andsometimesotherparameterssuchastorqueoraccelerationrate.Inthecaseofthetwoexamplesgiven,theweldingrobotrequiresprecisecontrolofbothspeedanddistance；thecranehydraulicsystemusesthedriverasthefeedbacksystemsoitsaccuracyvarieswiththeskilloftheoperator.Thiswouldntbeconsideredamotioncontrolsysteminthestrictsenseoftheterm.Ourstandardmotioncontrolsystemconsistsofthreebasicelements:Fig.1ElementsofmotioncontrolsystemThemotor.Thismaybeasteppermotor(eitherrotaryorlinear)