Controller Performance

Kollmorgen offers several controllers with varying performance. This topic compares the relative performance to help make a decision about what is best for your needs.

The PCMM2G improves performance by running PLC code and motion code at the same time.

  • Typical performance gain varies from 130% to 300% over the single core 1.2GHz PxMM , depending on the type of application being run.
  • The greatest performance gain is obtained when PLC code execution time and motion code execution time, measurable using the trace times feature, are roughly the same.
  • If one of these two values dominate the execution time, the performance gain is on the smaller side.
  • See Practical Application: Using Trace Time To Measure CPU Load.

This topic has these sections:

Performance Graphs

These graphs are for guidance in initial controller selection for development.

Notes

  • During development, the performance of an application should be measured to ensure that the selected controller meets the performance requirements.
  • Measurements can be done with either the:
    • KAS's digital oscilloscope using the trace times traces.
    • GetCtrlPerf function block.
    • Observation of the CPU usage on the Diagnostics tab tab of the KAS controller's web page interface.

PCMM2G Controllers

Figure 1: PCMM2G Controllers

PxMM Controllers


    • AKD PDMM and PCMM are not available for new applications.
    • Kollmorgen recommends the PCMM2G for new designs.

Single Core

Dual Core

Figure 2: 800MHz Single-core

Figure 3: 1.2GHz Single-core

Figure 4: 1.2GHz Dual-core

Application Complexities

High Complexity

A high-complexity application is characterized by:

  • Complex setups.
    • Most axes being slave axes.
    • Cammed or geared to a master axis.
  • Frequent moves.
  • Frequent reading and setting of external I/O points, and complex PLC logic.

A 4-axis high-complexity application running at 1kHz (1000us) can be handled by a single-core 1.2 GHz PxMM.

Figure 5: Example: High Complexity

Middle Complexity

A middle-complexity application is characterized by:

  • Being in between High and Low Complexity.
  • Most axes are point-to-point or velocity moves.
    • Some axes are cammed or geared to a master.
  • PLC logic is split so parts of a complex logic run at given times.

A 12-axis middle-complexity application running at 4kHz (250us) requires the dual-core 1.2 GHz PxMM.

Figure 6: Example: Middle Complexity

Low Complexity

A low-complexity application is characterized by:

  • Point-to-point and velocity moves.
  • Occasional reading of external I/O points, and simple PLC logic.

A 10-axis low-complexity application running at 2kHz (500us) can be handled by an 800 MHz PxMM.

Figure 7: Example: Low Complexity

Pipe Network and PLCopen Applications

Pipe Network applications usually use less of the controller's CPU.

When using the graphs:

  • A Pipe Network application acts like a slightly Low Complexity application.
  • A PLCopen application acts like a slightly High Complexity application.