smart motion control co.,ltd.

CRS’s Products - Motion Controllers

The company portfolio consists of two main families of motion control cards; A dual axes motion control family and a multi axes motion control family.In general, although all of our motion control cards provide high performance, the dual axes solutions are aimed for lower costs, distributed applications, while the multi axes solutions are aimed for advanced and market leading applications.

All our motion controllers are based on state of the art technology, in which we have poured tens years of experience in motion control, including all standard and non-standard motion modes, control algorithms, errors handling, user programs and much more.

As a policy, Control and Robotics Solutions is ready, and has the required experience, to perform products customization, in order to optimally match the customers needs. In most cases, new features made specifically for a given customer, are implemented into our standard product, so that all our customers community can benefit from this accumulated experience.

Products are also available in an extended temperature version.


*Market Leading Performance*	*High Performance*	*Performance/Price*

Feature

SC-NT-4M

SC-AT-4M

SC-AT-2M

Max. Number of Axes

4-8

Communication

1 x Ethernet

1 x USB (option)

1 x CAN Bus

2 x RS-232

1 x RS-422

(option)

1 x USB (option)

1 x CAN Bus

2 x RS-232

1 x CAN Bus

2 x RS-232

Servo Loop

Sampling Rate (1) KHz

16-32

8-16

Control Filters

PID/PIV

Feed Forwards

3 Filter Sets

Scheduling

2nd Order LPF

3 x Bi-Quad

Filters

1/T Velocity

Feedback

Dual Loop (2)

Non Linear

Algorithms

PID/PIV

Feed Forwards

3 Filter Sets

Scheduling

2nd Order LPF

3 x Bi-Quad

Filters

Dual Loop (3)

Non Linear

Algorithms

PID/PIV

Feed Forwards

3 Filter Sets

Scheduling

2nd Order LPF

1 x Bi-Quad

Filters

Dual Loop (4)

Non Linear

Algorithms

Feedback Support (5)

2 x Inc. Encoder

(6)

SIN/COS

Encoder

EnDat, SSI, BiSS

Analog

Inc. Encoder

Analog

2 x Inc. Encoder

(7)

SIN/COS

Encoder (7)

EnDat, SSI, BiSS

(7)

Analog

Incremental Encoder Features

Up to 25 MHz

Pos. Capture by Input

Pos. Capture by Index

Pos. Capture by Limit

Pos. Event Fixed Gap

Pos. Event by Table

Program. Pulse

Width

1/T Feedback

Programmable

In. Filter

Up to 25 MHz

Pos. Capture by Input

Pos. Capture by Index

Pos. Capture by Limit

Pos. Event Fixed Gap

Pos. Event by Table

Program. Pulse

Width

- - -

Up to 25 MHz

Pos. Capture by Input

Pos. Capture by Index

Pos. Capture by Limit

Pos. Event Fixed Gap

Pos. Event by Table

Program. Pulse

Width

1/T Feedback

- - -

SIN/COS Encoder

Features

Built In Multiplie

(8)

Programmable

Factor

Up to x 8192

Unlimited

Frequency

Full SW

Calibration

Decimal Factors

(14)

Noise Free

Operation

N.A

External Multiplier

(9)

Programmable

Factor

Up to x 8192

250 KHz

Semi SW

Calibration

Decimal Factors

(14)

Noise Free

Operation

Motion Modes

Point To Point: Absolute/Relative, Repetitive, S-Curve

Jogging

Position and Velocity Joystick

Linear and Circular Segmented Motion

Vector/Common Motion

Virtual Axis Profiler

Master/Slave

ECAM

Gantry

Step

Full On-The-Fly Changes (All Modes)

Driver Command

16 Bits

2 Channels Per

Axis

16 Bits

2 Channels Per

Axis

16 Bits

2 Channels Per

Axis

Feedback Error Mapping

Dynamic, Rea

Time

True Feedback

Corr

Large Tables

One/Two

Dimensions

Linear

Interpolation

Dynamic, Rea

Time

True Feedback

Corr

Large Tables

One/Two

Dimensions

Linear

Interpolation

Dynamic, Rea

Time

True Feedback

Corr

Normal Tables

One Dimension

Linear

Interpolation

Dedicated I/Os

(10)

Hardware Limits

Driver Enable

Driver Fault

2 x

Driver Command

Abort (per card)

Programmable

In. Filter

Hardware Limits

Driver Enable

Driver Fault

2 x

Driver Command

Abort (per card)

Hardware Limits

Driver Enable

Driver Fault

1 x

Driver Command

Abort (per card)

Uncommitted

I/Os

16 Digital In.,

Isolated

8 Digital Out.,

Isolated

4 Differential

Inputs

8 Differential

Outputs

4 x Analog

Outputs

4/8 Analog

Inputs

Programmable

In. Filter on

Digital Inputs

16 Digital In.,

Isolated

8 Digital Out.,

Isolated

4 TTL Inputs (11)

4 TTL Outputs

(11)

4 x Analog

Outputs

4 Analog Inputs

8 Digital In.,

Isolated

4 Digital Out.,

Isolated

2 TTL Inputs

2 TTL Outputs

2 Analog Inputs

Protections

High Position Error

Disconnected Encoder (12)

Motor Stuck

Hardware Limits

Software Limits

Emergency Stop

Driver Fault

Special Algorithms

Convolve Input

Shaping ®

Anti Cogging

(option)

Anti Friction

(future)

Auto

Commutation

3 Sets of Control

Filter Scheduling

(In-Motion,

In-Settling,

In-Position)

2nd Order LPF In

Velocity Loop

Feedback

Convolve Input

Shaping ®

Anti Cogging

(option)

Anti Friction

(future)

Auto

Commutation

3 Sets of Control

Filter Scheduling

(In-Motion,

In-Settling,

In-Position)

2nd Order LPF In

Velocity Loop

Feedback

Convolve Input

Shaping ®

Anti Cogging

(option)

Anti Friction

(future)

-----

3 Sets of Control

Filter Scheduling

(In-Motion,

In-Settling,

In-Position)

2nd Order LPF In

Velocity Loop

Feedback

User Programs

10 Threads

250 KByte

10 Threads

250 KByte

2 Threads

16 KByte

User Programs

Language

High Level: if, while, for, switch-case, nesting, define,

include, integer, float, round, truncate, ...

Version Control: target, description, ...

User Programs

Environment

Context Sensitive Editor

Compilation Errors

Single Step

Break Points

Watch Variables

Animate

User Programs Execution Speed

commands per second

>100,000

>30,000

>10,000

User Programs Math

Fixed and Floating Point Calculations

Math Functions

Unlimited Expressions

Motor Types

DC Brush

DC Brushless

Stepper (13)

Each axis programmable independently

Data Recording

Start on Trigger

Pre/Post Trigger

Rec.

Huge memory

Space

10 variables

Recording

Advanced

Graphics

Start on

Command

- - -

Huge memory

Space

10 variables

Recording

Advanced

Graphics

Start on

Command

- - -

Huge memory

Space

10 variables

Recording

Advanced

Graphics

PC Software

Shell Software for Setup, Tuning, Motions, I/Os,

Configurations, Versions Control, Download Firmware

and FPGA, Statuses and much more ...

Macro Programs Editor, Compiler and Debugger, All

Integrated (IDE)

DLLs, DCOM, for Visual C++, Visual Basic, Labview, ...

Advanced Diagnostics and Tuning Tools for Time and Frequency Domains

CPU Powe

400 MIPS, 32 bits.

RISC, ARM Core

200 MIPS, 32 bits.

RISC, ARM Core

70 MIPS, 32 bits.

RISC, ARM Core

Memory

16 MByte DRAM

4 MByte FLASH

16 MByte DRAM

4 MByte FLASH

256 KByte RAM

2 MByte FLASH

Standards

ROHS

ROHS(14)

Dimensions

175 x 90 x 20

136 x 76 x 20

100 x 76 x 20

(1) Current, Velocity and Position servo loops sampling rate. All axes at the same servo sampling rate. All features supported even at the fast sampling rate.

(2) SC-NT-4M has 8 encoders inputs, so dual loop is available for all axes.

(3) SC-AT-4M has only 4 encoders inputs, so dual loop is limited for 2 axes. This is a future feature.

(4) SC-AT-2M needs extension board (SC-AT-2M-CB) for total of 4 encoders inputs, to enable dual loop for all axes.

(5) Built in feedback channels per axis.

(6) Each incremental encoder channel can be programmed to be: Normal A/B, Pulse/Dir or Up/Down format.

(7) The SC-AT-2M provides a 2nd incremental encoder channel, SIN/COS encoders support and SSI/EnDat/BiSS support only with the addition of an extension board, SC-AT-2M-CB.

(8) Option for additional cost.

(9) Additional extension board is required for the SIN/COS multipliers.

(10) Per axis, unless otherwise specified. All isolated except Driver Command, which is an analog signal.

(11) TTL inputs and outputs require special HW setup at the factory and use 4 isolated in. and 4 isolated out.

(12) For the SC-AT-2M, protection is not implemented on auxiliary encoders inputs.

(13) Stepper motors can be controlled in open loop or closed loop (with encoder).

(14) Future feature.


SMMC司麥德國際股份有限公司
．SMART MOTION CONTROL CO., LTD	．330 桃園縣桃園市春日路987-5號六樓	．TEL: +886-3-3461082	．FAX:+886-3-3468394