Indel AG offers a motion library with a wide range of powerful functions. The entire library is included in the standard scope of delivery with no license costs.

Übersicht Motion Library

	On-the-fly path changes
	Up to 32 synchronized axes with 16kHz oosition loop
	G-Codes
	Anti-cogging mode
	Gantry control: Y1, Y2, X
	Jerk limited moves
	Position velocity time move
	S-curves, e-curves
	Look-up tables movements
	Linear spline interpolation
	PID2 position control
	Customer-specified control algorithms (Matlab, Simulink)
	Stage Mapping
	Framework McRobot: Single Step, Joystick-Mode, Slow-Motion, Error-Handling, Pick-and-Place modules, …
	No licence costs

On-the-fly path changes

The process image resides centrally on the fieldbus master. Position set points for the calculated path are transmitted via the 1Gbit GinLink fieldbus to the servo drives with a clock speed of up to 32 kHz. The fieldbus master can thus recalculate the path synchronously with every 32 kHz cycle and modify the target position accordingly.

On-the-fly path changes
	Central calculations of all axis on master CPU-Board
	Path calculation with up to 32kHz frequency
	Path changes based on events
	Change of destination based on camera information

2D/3D calibration of work plane

For high-precision pick-and-place applications the work space must be calibrated. To do this, a glass plate, for example, with a matrix of reference positions is placed in the work space. A camera is then used to systematically measure the entire space. The correction positions obtained are fed into the position controller during operation in real time.

The McRobot framework contains all the functionality for 2D and 3D calibration of work spaces.

Calibration of work plane
	Automated calibration by camera and calibration plate
	2D-, 3D-correction possible

Customer-specified control algorithms

The open architecture of the operating system allows the user to run his own control algorithms. This allows, for example, a position controller to run on the central fieldbus master. The current set values are transmitted via the 1 Gbit GinLink fieldbus to the servo drive with a sampling rate of up to 32 kHz. It is also possible to implement the controller code directly in the servo drive.

Customer-specified control algorithms
	Import of C/C++ code from Matlab or Simulink
	Control algorithms can run on fieldbus master or on the servo drive
	Current-, flow-, position control