Discover our cutting edge motion controller which enables real-time synchronization for high demanding systems. In three words: fast, precise and simple.

1. The Solution For ANY Application
ANY Motion

2. 2
Motion Control For ANY Multi Axis Scenario
The Gold Maestro is the Ultimate Demonstration of Elmo’s
“Smart, Small and Simple”

3. 3
Motion Control For ANY Multi Axis Scenario
Elmo’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.

4. 4
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.

5. 5
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

6. 6
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

7. 7
Designed based on the standards of DS402:
On Limits
On Home
On Index
On Block
Any Motion – Single Axis
MOVING
PART
LimitSwitchNeg LimitSwitchPos
MOVING
PART
On Off Off On

8. 8
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.
Any Motion – Single Axis

9. 9
Any Motion – Single Axis
On The Fly Position to Torque switching:
Fast and smooth transition to Torque control with Torque ramp

10. 10
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
Position
Imposed Motion
5000 60000

11. 11
Any Motion – Single Axis
Programmable “In Target” criteria:
Precise Motion and Settling time (within programmable radiuses and
time) can be obtained for factory ATP purposes

12. 12
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

13. 13
Any Motion – Multi Axis
Linear Motion Function Blocks
Y
X
x1 x2
y1
y2
Start Point = (x1, y1)
End Point = (x2, y2)

14. 14
Any Motion – Multi Axis
Circular Motion Function Blocks
Y
X
x1 x2
y2
y1
Start Point = (x1, y1)
Center Point = (x2, y2)
x3
y3
R
End Point = (x3, y3)

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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
X
x1 x2
y2
y1
Start Point = (x1, y1)
Auxiliary Point = (x2, y2)
x3
y3
End Point = (x3, y3)

16. 16
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
X Y
X0 Y0
X1 Y1
X2 Y2
. .
. .
. .
. .
. .
. .
Xn Yn

17. 17
Any Motion – Multi Axis
ECAM Table Motion Function Blocks
The slave axes are synchronized to the master’s position according to a
predefined table.

18. 18
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.
Y
X
x1 x2
y1
y2
Start Point = (x1, y1)
Connection Point = (x2, y2)
x3
y3
End Point = (x3, y3)
Y
X
x1 x2
y1
y2
Start Point = (x1, y1)
Connection Point = (x2, y2)
x3
y3
End Point = (x3, y3)
Before Transition After Transition

19. 19
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 Transitions:
The GMAS provides complex transition modes for 2D and 3D
kinematics

21. 21
2D Blended Motion
Example :
2D blended motion with transition curves

22. 22
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

23. 23
Z
Y
X
Z’
Y’
X’
MCS – Machine
Coordinate System
PCS – Product
Coordinate System
PCS – MCS transformation – Product Coordinate System to
Machine Coordinate System

24. 24
MCS – ACS Transformation – Machine Coordinate System to
Axis Coordinate System
Cartesian Machine
System:
Z
Y
X
MCS – Machine
Coordinate System
X
Y
Z
ACS – Axis
Coordinate System
Delta Robot Machine
System:
θ1
θ2
θ3 θ1
θ2
θ3
ACS – Axis
Coordinate System
MCS – Machine
Coordinate System
(Xo ,Yo, Zo)

25. 25
Linear transformation of the ACS – Axis Coordinate System
Position
time
t1 t2 t3
p3
p2
p1
Position
time
t1 t2 t3
p3·AY(x) = A·x+B
B
p1·A
p2·A

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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

28. 28
Any Motion
1D, 2D and 3D Error Correction Support
The G-MAS supports the ability to Correct non-linear mechanical
position errors on a multi-axis system.

29. 29
Any Motion
2D 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