Multi-axis position control by EtherCAT real-time networking:
The strength of EtherCAT synchronization techniques allows it to be compatible with both low and high demanding applications. Combined with the correct implementation of both the network protocol, and a proper device profile, a true distributed motion control can be achieved.
Learn about CANopen communication protocol.
Get to know the basic terms, DS402 profiles, network management, SDO, PDO and more.
Find out what are the advantages of distributed control?
What is the binary interpreter method?
Accurate Synchronization of EtherCAT Systems Using Distributed ClocksDesign World
Synchronization and determinism are important considerations when selecting an industrial control system and the associated fieldbus. Additionally, it’s important for field devices to have network-wide interrupts for activating outputs, capturing input data, oversampling or latching events. These are all significant facets in the overall network synchronization scheme.
This webinar on Tuesday, Oct. 23 at 2 PM EST will explain how the Distributed Clock mechanism in EtherCAT works to meet all of these functions using properties inherent to the protocol. This can be done using a standard Ethernet network adaptor, all without the overhead of IEEE 1588.
Attend this webinar to learn:
How Distributed Clocks (DCs) in EtherCAT facilitate measurement of propagation delay throughout the system and synchronize network devices to a single time value
What EtherCAT slave devices can do to facilitate temporal behavior for outputs and inputs as well as implementing data oversampling
More about some of the concepts that enable EtherCAT to have a high scan rate as well as high levels of synchronization
Learn about CANopen communication protocol.
Get to know the basic terms, DS402 profiles, network management, SDO, PDO and more.
Find out what are the advantages of distributed control?
What is the binary interpreter method?
Accurate Synchronization of EtherCAT Systems Using Distributed ClocksDesign World
Synchronization and determinism are important considerations when selecting an industrial control system and the associated fieldbus. Additionally, it’s important for field devices to have network-wide interrupts for activating outputs, capturing input data, oversampling or latching events. These are all significant facets in the overall network synchronization scheme.
This webinar on Tuesday, Oct. 23 at 2 PM EST will explain how the Distributed Clock mechanism in EtherCAT works to meet all of these functions using properties inherent to the protocol. This can be done using a standard Ethernet network adaptor, all without the overhead of IEEE 1588.
Attend this webinar to learn:
How Distributed Clocks (DCs) in EtherCAT facilitate measurement of propagation delay throughout the system and synchronize network devices to a single time value
What EtherCAT slave devices can do to facilitate temporal behavior for outputs and inputs as well as implementing data oversampling
More about some of the concepts that enable EtherCAT to have a high scan rate as well as high levels of synchronization
Read/Write control logic:
The Read/Write Control logic interfaces the 8251A with CPU, determines the functions of the 8251A according to the control word written into its control register.
It monitors the data flow.
This section has three registers and they are control register, status register and data buffer.
The active low signals RD, WR, CS and C/D(Low) are used for read/write operations with these three registers.
When C/D(low) is high, the control register is selected for writing control word or reading status word.
Industrial Networks: the Choices for Real Time Motion ControlDesign World
Among the versions of Ethernet for real-time motion update, two are leading the industry today: EtherCAT, Ethernet/IP, and Powerlink. Each handles real-time messaging differently, and the differences affect your design choices. The leading vendors behind these networks will discuss the ways each handles real-time updates. By watching this special, free 1-hour on-demand webinar you will gain a better understanding of the key factors necessary to make the best network choice for your motion application.
Read/Write control logic:
The Read/Write Control logic interfaces the 8251A with CPU, determines the functions of the 8251A according to the control word written into its control register.
It monitors the data flow.
This section has three registers and they are control register, status register and data buffer.
The active low signals RD, WR, CS and C/D(Low) are used for read/write operations with these three registers.
When C/D(low) is high, the control register is selected for writing control word or reading status word.
Industrial Networks: the Choices for Real Time Motion ControlDesign World
Among the versions of Ethernet for real-time motion update, two are leading the industry today: EtherCAT, Ethernet/IP, and Powerlink. Each handles real-time messaging differently, and the differences affect your design choices. The leading vendors behind these networks will discuss the ways each handles real-time updates. By watching this special, free 1-hour on-demand webinar you will gain a better understanding of the key factors necessary to make the best network choice for your motion application.
Solution for Industrial Printing & Textile Machines | Elmo Motion ControlElmo Motion Control
Our G-MAS uses a CANopen virtual encoder to improve master-slave performance on advanced industrial printing machines.
Find out how you can save money by using motion controllers virtual encoder.
Discover our cutting edge motion controller which enables real-time synchronization for high demanding systems. In three words: fast, precise and simple.
Ethernet or EtherCAT for Motion Control: Choosing the Right Network for Your ...Design World
With the increasing presence of EtherCAT in the motion control industry, choosing between EtherCAT and Ethernet is becoming an increasingly important question. This presentation will cover the technical differences between both methods and provide advice on how to choose between them based on application requirements. Strengths and weakness of both Ethernet and EtherCAT will be discussed including development time, ease of use, cost, and complexity.
Additionally, Galil’s DMC-500x0 EtherCAT Master and DMC-40x0 Ethernet controller will be reviewed with regards to the capabilities and advantages they can offer. This presentation is geared towards system developers looking to understand the differences, costs, and capabilities of both Ethernet and EtherCAT.
Watch the webinar: http://www.designworldonline.com/ethernet-or-ethe…r-motion-control/
Get started with Lua - Hackference 2016Etiene Dalcol
Lua is a very fast, elegant and powerful dynamic language. It’s an excellent tool for robust applications or slim embedded systems. It found a niche in game development with big names such as “Grim Fandango”, “World of Warcraft” and “Angry Birds”. This talk will present what makes Lua different from other interpreted languages, the evolution of the Lua ecosystem, some key concepts of the language, and show you why Lua is the next language to add to your skill set.
Software-Defined Networking Changes for the Paradigm for Mission-Critical Ope...Wheeler Flemming
Learn why SEL’s SDN technology promises to revolutionize Ethernet for industrial control system networks. The white paper was originally published in The Industrial Ethernet Book, Issue 98, February 2017.
ETHERNET PACKET PROCESSOR FOR SOC APPLICATIONcscpconf
As the demand for Internet expands significantly in numbers of users, servers, IP addresses,
switches and routers, the IP based network architecture must evolve and change. The design
of domain specific processors that require high performance, low power and high degree of
programmability is the bottleneck in many processor based applications. This paper describes
the design of ethernet packet processor for system-on-chip (SoC) which performs all core
packet processing functions, including segmentation and reassembly, packetization
classification, route and queue management which will speedup switching/routing
performance. Our design has been configured for use with multiple projects ttargeted to a
commercial configurable logic device the system is designed to support 10/100/1000 links with a speed advantage. VHDL has been used to implement and simulated the required functions in FPGA.
EtherCAT as a Master Machine Control ToolDesign World
There is an increasing demand in the automation and motion control industries for a localized motion control solution that can coordinate motion between multiple remote components.
Previously, field bus protocols such as Modbus or Ethernet have been implemented to address this demand. Although successful in moving data across automation networks, these protocols lacked the real time performance necessary for a distributed motion control system.
The EtherCAT communication protocol provides a high speed, low overhead communication scheme that allows efficient, deterministic communication between motion controller and remote components. Based on Ethernet and streamlined specifically for point to point transmission of real time data, the EtherCAT standard is quickly becoming the preferred choice for centralized control of tightly coupled motion between remote components.
This presentation is aimed at designers of automation and motion control systems with a basic understanding of Ethernet communication.
Elmo Motion Control has integrated its compact Harmonica digital servo drive into an automated print inspection machine. Mounted in the optical head of the system, the Harmonica controls the position of the camera as it scans each millimeter of the newly printed area.
Elmo's Whistle digital servo drives are compact, with high power density. This case study shows how one of our customers in the robotics industry, Autonomous Solutions Inc., used them to increase the power and agility of their Chaos mobile robot platform.
The integral heat sink of the Gold Drum HV can dissipate around 18 W – 22 W, depending on the mounting method. This “no fan” approach can be advantageous up to an average current of 20 A -25 A with the 800 V types, and 35 A- 40 A with the 400 V types.
The Tweeter and Whistle Servo Drive Controller were found to be the lightest and most efficient servo controllers with the most intelligence for the remote manipulation and handling system challenge.
Using the Tuba & Cornet digital servo drives, Elmo Motion Control has implemented a unique ECAM-based solution for managing an application that prints labels on boxes moving at irregular intervals along a conveyor.
“One Solution” isn’t just a slogan for us. We understand your business needs down to the finest details. We also appreciate that in this industry time means money. So we have designed for you servo power supplies that are cost-efficient and meet the highest safety standards.
The Tambourine-20 is Elmo’s latest compact, direct-to-mains power supply for servo applications. The Tambourine complements our servo drives that do not include an integrated power supply.
Elmo's Tambourine-100 is a state-of-the-art, thermally protected power supply that accepts 3-phase voltage source up to 3 x 480 VAC.
Gold Duo is a compact, wall-mounted integrated digital servo drive solution that contains two drives in a single product. It weighs just 479 g (16.9 oz) and offers up to 2 x 1.6 kW of continuous power or 2 x 3.2 kW of peak power.
The solution operates under a single power supply and is designed for applications with up to two axes.
When you have Elmo voltage capabilities, you can choose the optimum combination of motor windings and drive size to yield the operating voltage. Elmo’s Gold Servo drives support a very wide range of DC and AC voltages, from 10VDC to 800VDC and from 30VAC to 530VAC.
Our complete range of servo drives not only provides any power range you need, it provides the highest density power (smallest servo drives) in the industry, precisely delivering the exact power you need, with zero emissions and zero noise technology.
Elmo’s Gold Servo Drives master the ability to run any
servo motor with qualitative power in the range of
10W – 65,000W.
Key Trends Shaping the Future of Infrastructure.pdfCheryl Hung
Keynote at DIGIT West Expo, Glasgow on 29 May 2024.
Cheryl Hung, ochery.com
Sr Director, Infrastructure Ecosystem, Arm.
The key trends across hardware, cloud and open-source; exploring how these areas are likely to mature and develop over the short and long-term, and then considering how organisations can position themselves to adapt and thrive.
JMeter webinar - integration with InfluxDB and GrafanaRTTS
Watch this recorded webinar about real-time monitoring of application performance. See how to integrate Apache JMeter, the open-source leader in performance testing, with InfluxDB, the open-source time-series database, and Grafana, the open-source analytics and visualization application.
In this webinar, we will review the benefits of leveraging InfluxDB and Grafana when executing load tests and demonstrate how these tools are used to visualize performance metrics.
Length: 30 minutes
Session Overview
-------------------------------------------
During this webinar, we will cover the following topics while demonstrating the integrations of JMeter, InfluxDB and Grafana:
- What out-of-the-box solutions are available for real-time monitoring JMeter tests?
- What are the benefits of integrating InfluxDB and Grafana into the load testing stack?
- Which features are provided by Grafana?
- Demonstration of InfluxDB and Grafana using a practice web application
To view the webinar recording, go to:
https://www.rttsweb.com/jmeter-integration-webinar
Builder.ai Founder Sachin Dev Duggal's Strategic Approach to Create an Innova...Ramesh Iyer
In today's fast-changing business world, Companies that adapt and embrace new ideas often need help to keep up with the competition. However, fostering a culture of innovation takes much work. It takes vision, leadership and willingness to take risks in the right proportion. Sachin Dev Duggal, co-founder of Builder.ai, has perfected the art of this balance, creating a company culture where creativity and growth are nurtured at each stage.
Smart TV Buyer Insights Survey 2024 by 91mobiles.pdf91mobiles
91mobiles recently conducted a Smart TV Buyer Insights Survey in which we asked over 3,000 respondents about the TV they own, aspects they look at on a new TV, and their TV buying preferences.
Encryption in Microsoft 365 - ExpertsLive Netherlands 2024Albert Hoitingh
In this session I delve into the encryption technology used in Microsoft 365 and Microsoft Purview. Including the concepts of Customer Key and Double Key Encryption.
Generating a custom Ruby SDK for your web service or Rails API using Smithyg2nightmarescribd
Have you ever wanted a Ruby client API to communicate with your web service? Smithy is a protocol-agnostic language for defining services and SDKs. Smithy Ruby is an implementation of Smithy that generates a Ruby SDK using a Smithy model. In this talk, we will explore Smithy and Smithy Ruby to learn how to generate custom feature-rich SDKs that can communicate with any web service, such as a Rails JSON API.
GraphRAG is All You need? LLM & Knowledge GraphGuy Korland
Guy Korland, CEO and Co-founder of FalkorDB, will review two articles on the integration of language models with knowledge graphs.
1. Unifying Large Language Models and Knowledge Graphs: A Roadmap.
https://arxiv.org/abs/2306.08302
2. Microsoft Research's GraphRAG paper and a review paper on various uses of knowledge graphs:
https://www.microsoft.com/en-us/research/blog/graphrag-unlocking-llm-discovery-on-narrative-private-data/
Neuro-symbolic is not enough, we need neuro-*semantic*Frank van Harmelen
Neuro-symbolic (NeSy) AI is on the rise. However, simply machine learning on just any symbolic structure is not sufficient to really harvest the gains of NeSy. These will only be gained when the symbolic structures have an actual semantics. I give an operational definition of semantics as “predictable inference”.
All of this illustrated with link prediction over knowledge graphs, but the argument is general.
The Art of the Pitch: WordPress Relationships and SalesLaura Byrne
Clients don’t know what they don’t know. What web solutions are right for them? How does WordPress come into the picture? How do you make sure you understand scope and timeline? What do you do if sometime changes?
All these questions and more will be explored as we talk about matching clients’ needs with what your agency offers without pulling teeth or pulling your hair out. Practical tips, and strategies for successful relationship building that leads to closing the deal.
Securing your Kubernetes cluster_ a step-by-step guide to success !KatiaHIMEUR1
Today, after several years of existence, an extremely active community and an ultra-dynamic ecosystem, Kubernetes has established itself as the de facto standard in container orchestration. Thanks to a wide range of managed services, it has never been so easy to set up a ready-to-use Kubernetes cluster.
However, this ease of use means that the subject of security in Kubernetes is often left for later, or even neglected. This exposes companies to significant risks.
In this talk, I'll show you step-by-step how to secure your Kubernetes cluster for greater peace of mind and reliability.
Essentials of Automations: Optimizing FME Workflows with ParametersSafe Software
Are you looking to streamline your workflows and boost your projects’ efficiency? Do you find yourself searching for ways to add flexibility and control over your FME workflows? If so, you’re in the right place.
Join us for an insightful dive into the world of FME parameters, a critical element in optimizing workflow efficiency. This webinar marks the beginning of our three-part “Essentials of Automation” series. This first webinar is designed to equip you with the knowledge and skills to utilize parameters effectively: enhancing the flexibility, maintainability, and user control of your FME projects.
Here’s what you’ll gain:
- Essentials of FME Parameters: Understand the pivotal role of parameters, including Reader/Writer, Transformer, User, and FME Flow categories. Discover how they are the key to unlocking automation and optimization within your workflows.
- Practical Applications in FME Form: Delve into key user parameter types including choice, connections, and file URLs. Allow users to control how a workflow runs, making your workflows more reusable. Learn to import values and deliver the best user experience for your workflows while enhancing accuracy.
- Optimization Strategies in FME Flow: Explore the creation and strategic deployment of parameters in FME Flow, including the use of deployment and geometry parameters, to maximize workflow efficiency.
- Pro Tips for Success: Gain insights on parameterizing connections and leveraging new features like Conditional Visibility for clarity and simplicity.
We’ll wrap up with a glimpse into future webinars, followed by a Q&A session to address your specific questions surrounding this topic.
Don’t miss this opportunity to elevate your FME expertise and drive your projects to new heights of efficiency.
UiPath Test Automation using UiPath Test Suite series, part 3DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 3. In this session, we will cover desktop automation along with UI automation.
Topics covered:
UI automation Introduction,
UI automation Sample
Desktop automation flow
Pradeep Chinnala, Senior Consultant Automation Developer @WonderBotz and UiPath MVP
Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
2. 2
EtherCAT Applications Overview
The EtherCAT Control Approach
The EtherCAT Data Processing
Time Synchronization Requirements in Distributed
Systems
EtherCAT Distributed Clock Mechanism
Back to EtherCAT and Motion Control
Servo Drives , DS 402 Device Profiles and CoE
Practical Real Time Control Networks Inputs /
outputs synchronization Requirements
Summary
Lecture Topics
3. 3
EtherCAT Applications Overview
Typical Applications
Renewable Energy
Manufacturing processes.
Over 300 servo- controled
movements, coordinated wit
h vision systems and I /O’s
Wafaer Handling Robots
XYZ Wafer inspection
systems.
Autonomues robots.
Militray applciations for turet
control and others ...
5. 5
EtherCAT Control Approach
Cyclic Control
Fixed Communication Cycle
Process data image is
updated every cycle
Process status is known to
the control task cyclically
process data compilation
does not need to be changed
fast communication task
with low resource
requirements.
Stable and Fast synchronization handling
No interference between the real-time process data and the
background (mailbox) service.
Hot plug connection
6. 6
EtherCAT Control Approach
What Type of Data is Shared on the Network ?
Usually, a control system needs to have, on a periodic time
intervals the following:
Inputs: Latched Sensors Data such as Positions, Velocities, Currents,
System Status, IO’s etc,
Outputs: Control Law commands, or Trajectory Information, or Higher
Drive Level Commands.
The specific nature of the data being transferred on the network
depends on the operation mode of the slave drive.
The terminology used for Drive Slaves operation is “Device
Profile”.
A common standard for Drive Device Profiles is the “DS-402”,
CANOpen Device Profile, and “CoE” – Can Over EtherCAT. More
on that , Later On …
7. 7
EtherCAT Data Processing
On-The-Fly Processing
Process data is extracted and inserted on the fly
Process data size per slave practically unlimited
(1 Bit…60 Kbyte, if needed using several frames).
Practical systems use for the process data no more than
few dozen bytes per node per cycle.
Support Dispersing cycle data : short cycle times for high
demanding axes, and longer cycles for service axes and I/O
update is possible …
Slave Device
EtherCAT Slave
Controller
Slave Device
EtherCAT Slave
Controller
11. 11
EtherCAT Distributed Clocks
Synchronization Requirements in Control
Centralized Motion Control Systems use single processor (one
servo loop interrupt) for controlling all axes.
Jitter between axes is minimal, and usually relates on h/w
latching of peripherals (FPGA etc). This is in the area of few
tens of Nano-seconds.
Distributed Control topology comprise of a remote master
and multiple slaves, each with its own processing unit,
synchronization and timings.
Modern Distributed Motion Control Systems mostly relay on
Ethernet based communication links.
Standard Ethernet rallies “too much” on SW, thus its not
deterministic enough for real time motion control tasks.
12. 12
EtherCAT Distributed Clocks
Synchronization Requirements in Control
As an example, at 1 m/sec linear speed, 1 μSec shift in
position latch lock is equivalent to 1 μm.
The velocity calculations will be more severely affected.
Modern digital control systems, running at 20 kHz servo loop
rate or higher, latch a new position data every 50 μSec, and
calculate the speed based on the position difference at the
given time.
So in this case, 1 μSec jitter, is equivalent to 2% speed jitter
error, which is much more than usually allowed in high
performance systems.
High end motion control system, need synchronization level
between all slaves much better then 1 μSec !
SO, How this is done … ??
13. 13
EtherCAT Distributed Clocks
Synchronization in a Distributed System
The task of synchronizing multiple clocks in a distributed system
is not uniquely specified for Motion Control, and is common for
many computer and network systems.
There are few methods to synchronize slave nodes over a
network. One common way is the IEEE 1588 precision time
protocol (PTP) (defined as early as 2002).
It is a technology for sharing clocks between distributed
systems.
IEEE 1588 provides a distributed time base used to timestamp
data with sub-microsecond precision.
The EtherCAT Distributed Clock (DC) uses the same concept of
distributed time base.
17. 17
EtherCAT Distributed Clocks
Purpose of Distributed Clocks in EtherCAT
With the Distributed Clocks Mechanism (DC), Precise
Synchronization (<< 1 µs!) can be achieved between
slaves within a network, by exact adjustment of internal
node system time.
M
∆tIPC
S
Maste
r
S
S S S S
S
18. 18
EtherCAT Distributed Clocks
Purpose of Distributed Clocks in EtherCAT
Synchronization of EtherCAT devices
Definition of a System Time
Beginning on January, 1st 2000 at 0:00h
Base unit is 1 ns
64 bit value (enough for more than 500 years)
Lower 32 bits spans over 4.2 seconds
Normally enough for communication and time stamping
Definition of a Reference Clock
One EtherCAT Slave will be used as a Reference Clock
Reference Clock distributes its Clock cyclically
Reference Clock adjustable from a “global” Reference Clock –
IEEE 1588
19. 19
The EtherCAT Slave Controller
The ESC, EtherCAT Slave Controller is responsible for
all this …
EtherCAT Slave Controller (ESC)
FMMU n
SyncMan
EtherCAT Address Space
EtherCAT Processing Unit
and Auto-Forwarder with Loop Back
Port 0 Port 1 Port 2 Port 3
PHY
Mag
RJ45
PHY
Mag
RJ45
Distributed Clocks
SPI / µC parallel
Digital I/O Sync0 / Latch0
Sync1 / Latch1IRQ
Process Data Interface
(PDI)
Sync / Latch Unit
DC
Control
System Time
Offset
Delay
20. 20
Back to the Motion Control …
So, we understand how data is
transferred, and synchronized,
but what that’s have to do with
the Motion Control System … ???
Remember the Drive Device
Profiles …
CANOpen / DS402 …
“CoE” – Can Over EtherCAT.
More on that , Now … !
21. 21
Servo Drive Device Profile
The CANOpen DS402 and CoE
The CAN in AUTOMATION (CiA) Group, established the DS402
(“DS” stands for Draft Standard) for “Drives and Motion Control
Device Profile”.
The aim of this standard is to provide a common platform that
defines the general behavior, and operation modes that should
be supported by drive manufacturers, to enable as much as
possible, interoperability between masters and slaves within
motion control systems.
It was “born” for the “old” CAN technology, but is widely
adopted by the ETG and many drive manufacturers as well,
with the CoE … CAN Over EtherCAT.
22. 22
DS402 Drive Device Profile
The CANOpen DS402 and CoE
The DS402 device profile defines several modes of
operation, including:
Profile position mode,
Homing modes
Interpolated position mode,
Profile velocity mode,
Profile torque mode,
velocity mode,
Cyclic synchronous position mode,
Cyclic synchronous velocity mode, and
Cyclic synchronous torque mode
26. 26
Real Time Network Inputs/Outputs
So, the data we need to swap between the Master
Controller and our Drives, Depends on the “Device
Profile” and “Operation Mode” used. It is generally
comprised of:
Outputs (from the Master to the Drive): Device
Operation Mode Request (CW/OM), Target Position,
Target Velcoity, Target Torque, Various Offsets, etc.
Inputs (from the Drive to the Master): Actual Device
Operation Mode and status (SW), Actual Position, Actual
Velcoity, Actual Torque, etc.
These Data Objects, Periodic or Cyclic Data Objects, aka
“PDO’s” : Process Data Objects …
27. 27
Real Time Network Inputs/Outputs
Process Data and EtherCAT Payloads …
Each PDO has an “Address entry” within the Device
“Object Dictionary”, and is part of the Data Payload
carried out over the EtherCAT Datagram Message …
29. 29
Real Time Network Inputs/Outputs
Practical Synchronization considerations …
Systems and drives working in the “relatively
simple” “Profile Position” or “Profile Velcoity”
Modes, actually no strict synchronization is
required.
System aiming in synchronizing multiple axes
Motion Trajectories, like pick-and-place
machines, 3D robots etc, will require high level
of synchronization, with cycle times in the area
of ~1 mili-sec.
The most demanding systems are the ones
requiring to close the servo loops over the
network. Highest level of synchronization and
cycle update rates are needed, typical ~100
μSec or less.
30. 30
Summary
EtherCAT is spreading, in a much faster rate then any
other filed bus, and commonly adopted for variety of
applications, by many vendors …
The strength of EtherCAT synchronization techniques
allows it to be compatible with both low and high
demanding applications.
Combined with the correct implementation of both the
network protocol, and a proper device profile, a true
Distributed Motion control can now be achieved.