Owner manual

Gold Maestro Installation Guide Product Description

MAN-GOLD-MAESTRO-IG (Ver. 1.301)

www.elmomc.com

2.2.2. Gold Maestro Software

• Operating System: Linux Operating System, with Elmo’s RT extension for real-time

motion control support

• Motion Programming and Debugging

 Native C Programming, running on the target CPU. Compiling and debugging via the

Eclipse IDE using GCC under Cygwin

 IEC 61131-3 with PLCopen Motion Library extension, using Elmo IDE. The following

languages are supported:

• Structured text (ST), textual

• Function block diagram (FBD), graphical

• Ladder diagram (LD), graphical

• Sequential function chart (SFC), has elements to organize programs for sequential

and parallel control processing.

• Number of Axes: Up to 96 axes, allowing mixed single axis, multiple axis and

coordinated axes motions

• Axis Types

 Intelligent Servo Drives (Elmo), supporting both the SimplIQ and Gold lines

 Operation in Numeric Control – NC - (real-time master synchronization) as well as

non-NC modes

 DS 402 CoE for EtherCAT and standard DS 402 drives for CANopen

• Control System Update Rate

 EtherCAT

• Cycle Update Rate: ≥ 500 µs (up to 16 axes can be updated simultaneously at a rate

of 500 µs)

• Cycle Jitter: < 1 µs, based on Master DC (Distributed Clock) support, for the full

network

 CAN

• Cycle Update Rate ≥ 1 ms (CAN physical network limitations only)

• Cycle Jitter: < 100 µs for CAN Sync message initiation (actual jitter dependant on the

CAN network’s physical limitations)

• Motion Modes and Interfaces: The Gold Maestro motion interfaces use the PLCopen

Standard.

 64 bit, real-time, double precision profile calculations, allowing full on-the-fly control

over speed, acceleration, deceleration and jerk

 Complex motion schemes, including look-ahead optimizing of trajectory speed

calculations, for complex vector motions

 Cyclic buffer for 1,000 function blocks (a buffer for 1,000 motion segments). The cyclical

buffer removes any practical limit on the number of function blocks.

• Communication Protocols

 Host

• Ethernet TCP-IP/UDP for operational modes