The Solution For ANY Application

ANY Motion

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 Motion Control For ANY Multi Axis Scenario
The Gold Maestro is the Ultimate Demonstration of Elmo’s
“Smart, Small and Simple”

2 View Gold Maestro product page

 Motion Control For ANY Multi Axis Scenario
ElmoMC’s Gold Maestro is an advanced, network-based,
multi-axis machine motion controller.
The Gold Maestro can control any multi-axis scenario. From
simple “Point to Point” to complete multi-axis coordinated
/ synchronized motion control.
By operating in conjunction with Elmo’s Veteran SimplIQ or
Gold Servo Drives, it offers the most advanced multi-axis
network controller.

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 Motion Control For ANY Multi Axis Scenario
The Gold Maestro features:
By the book, PLCopen Single and Multi-Axis motion control
Designed to standards for simple and effective integration
into your machine
Ability to synchronize up to 16 axes, at Axis level and at
Machine Level
Advanced user programming capabilities based on
recognized standards (C, C++, .NET, IEC-61131-3)
Complete application support by ready-to-use scripts,
motion blocks, programs, templates, user functions.

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 Motion Control For ANY Multi Axis Scenario
A major advantage of the Gold Maestro is the flexibility in
allowing axes to run in the following modes:
Numerical Control – Motion Profile that is calculated in the
Gold Maestro

Distributed – Motion Profile that is calculated in drive, thus

obtaining distributed intelligence

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 Motion Control For ANY Multi Axis Application
Standards
PLCopen programming interface to the G-MAS.
DS402 motion protocols to the drives
Homing
Profile Position
Interpolated / Cyclic Position
Cyclic Torque
Cyclic Velocity
DS401 to IO modules
Host Field busses to 3rd party devices
Modbus
Ethernet/IP

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 Any Motion – Single Axis
Designed based on the standards of DS402:
On Limits
On Home
On Index
On Block
MOVING
PART

LimitSwitchNeg On Off Off On LimitSwitchPos

MOVING
PART

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 Any Motion – Single Axis
Single Axis Motion
Simple Point to Point and Jog motion.

Huge Motion Buffers are supported.

Motions can be buffered by using one

of the many supported G-MAS Motion
Buffering modes:

Buffered – Motion Function block will start once

the previous motion ended.
Blending – Velocity of inserted motion block will
blend with the previous function block.
Abort – All ongoing motion blocks will be
aborted.

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 Any Motion – Single Axis
SuperImposed Motion :

The G-MAS fully supports superimposing a motion - the ability to

impose an additional profiler on top of an ongoing motion in real time

Velocity

Imposed Motion

0 5000 6000 Position

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 Any Motion – Single Axis
Move and Settle Abilities :

Precise Motion and Settling time (within programmable radiuses and

time) can be obtained for factory ATP purposes

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 Any Motion – Multi Axis
Multi Axis Coordinated Motion
Group Motion can be fully coordinated and synchronized when
using the G-MAS.
Each individual axis that is part of a Group Motion shall start
together and finish together with other group members

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 Any Motion – Multi Axis
Linear Motion Function Blocks

Y Start Point = (x1, y1)

End Point = (x2, y2)

y2

y1

x1 x2
X
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 Any Motion – Multi Axis

Circular Motion Function Blocks

Y Start Point = (x1, y1)

Center Point = (x2, y2)
End Point = (x3, y3)

y3
R

y1
y2

x1 x2 x3
X

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 Any Motion – Multi Axis
Polynomial Motion Function Blocks

The G-MAS profiler builds a smooth polynomial shape segments in

2D and 3D space that is defined by these three crossing points:

Y Start Point = (x1, y1)

Auxiliary Point = (x2, y2)
End Point = (x3, y3)

y3

y2

y1

x1 x3 x2
X
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 Any Motion – Multi Axis

Spline and PVT Table related Motion Function Blocks

Points are know in advance, and are interpolated

by the G-MAS.

Several table and motion modes

Y X Y

X0 Y0

X1 Y1
X2 Y2
. .
. .
. .
. .
. .
. .
Xn Yn

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 Any Motion – Multi Axis
Motion Blending
The G-MAS enables the blending of a path between any two
consecutive motion segments.
The blending defines the velocity at the transition point.

Before Transition After Transition

Y Start Point = (x1, y1) Y Start Point = (x1, y1)

Connection Point = (x2, y2) Connection Point = (x2, y2)
End Point = (x3, y3) End Point = (x3, y3)

y2 y2

y3 y3

y1 y1

x1 x2 x3 x1 x2 x3
X X

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 Any Motion – Multi Axis
Motion Blending Modes
Different Blending modes are supported:
Blending with low velocity
Blending with high velocity
Blending with velocity of previous segment
Blending with velocity of next segment

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 Any Motion – Multi Axis
Motion Transition
Transition between motion segments defines the curve in a 3D
space that will connect the segments

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 Any Motion – Multi Axis
Transition Modes

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 2D Blended Motion
Example :
2D blended motion with transition curves

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 Any Motion – Multi Axis
G-MAS Kinematics
The G-MAS supports several Kinematic
Transformations:
PCS – MCS transformation
MCS – ACS transformation
Cartesian Machine systems
Delta Robot Machine systems
Linear transformation of the ACS

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 PCS – MCS transformation – Product Coordinate System to
Machine Coordinate System MCS – Machine
Z’ Coordinate System

Z
PCS – Product
Coordinate System

X’

X
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 MCS – ACS Transformation – Machine Coordinate System to
Axis Coordinate System
Cartesian Machine Z
MCS – Machine
System: Coordinate System ACS – Axis
Coordinate System

Y
Y

Delta Robot Machine MCS – Machine

Coordinate System
System:
θ2 ACS – Axis
θ1
Coordinate System
θ3 θ1

θ2

θ3
(Xo ,Yo, Zo)

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 Linear transformation of the ACS – Axis Coordinate System

Position Position
p1·A

p2·A

Y(x) = A·x+B p3·A

p1
p2

p3

B
t1 t2 t3 t1 t2 t3
time time

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 Any Motion – Multi Axis
Delta Robot
After defining the Delta Robot Kinematics and measurements, running the
Delta Robot is a simple task. All Coordinated motions function blocks are
available (Linear, Circular, Polynomial, PVT, Splines).

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 Any Motion
Huge Motion And Administrative Buffers.
The G-MAS supports up to 1000 function block depth.
Using the administrative Function Block mechanism, a user can precisely
change motion parameters, IOs and maximum torque Between Motion
Blocks

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 Any Motion
1-2-3D Error Correction Support
The G-MAS supports the ability to Correct non-linear mechanical
position errors on a multi-axis system.
G-MAS error correction supports up to 6 two-dimensional tables
and up to 100,000 tabulated correction positions.

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 Any Motion
1-2-3D Error Correction - Example
A Nano metric system before and after Error Correction.
Units are in microns

Before: After:

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 Any Motion

For a full list of features and capabilities visit:

http://www.elmomc.com/capabilities/elmo-capabilities-main.htm

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