Hardware Organization of Motion Functions
A complete motion control
Motion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device such as a hydraulic pump, linear actuator, or an electric motor, generally a servo. Motion control is an important part of robotics and CNC machine tools; however, it is more complex than in the use of specialized machines, where the kinematics is usually simpler. The latter is often called General Motion Control (GMC). Motion control is widely used in the packaging, printing, textile and assembly industries "chain" is made of two main parts that can be subdivided into several more basic functionalities. Depending on your hardware system configuration, each of these elementary functions can theoretically be embedded in different hardware modules.
One of the possible configurations is represented in the figure below.
Figure 6-4: Hardware Organization of Motion Functions
The scope of Kollmorgen Automation Suite is to manage all the logical parts of the motion control and to ignore the physical aspects (which are handled by the hardware). To make the link between the logical and physical worlds, KAS includes some components that acts as interface.
Therefore, we do no longer consider regulation and the physical world in the following paragraphs. Only setpointSetpoint is the target value that an automatic control system, for example PID controller, will aim to reach generation are taken into account.
