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Motion Programming


                                                                                                                                      Program motion quickly and intuitively with our Pipe Network  graphical programming language. Or choose
                                                                                                                                                                                               ™
                                                                                                                                      the industry-standard PLCopen for motion to easily reuse your existing programming resources.


                                                                                                                                      Pipe Network  Visual Programming Environment
                                                                                                                                                      ™
                                                                                                                                      Our innovative Pipe Network  programming environment provides a visual, drag-and-drop model of your
                                                                                                                                                            ™
                                                                                                                                      machine’s motion, including complex axis and cam relationships.                                              K
   K
   K
                                                                                                                                      Program Tasks in Hours Instead of Weeks:
                                                                                                                                      .   Intuitive visual programming with a library of prebuilt modules.
                                                                                                                                      .     Easy knowledge transfer, replacing pages of complex code with easily understood graphical representations  OLLMORGEN A



                                                                                                                                                   1                                                                   Pipe Network  provides
                                                                                                                                                                                                                               TM
   OLLMORGEN A
   OLLMORGEN A
                                                                                                                                                          3                                                            a one-to-one translation of   UT
                                                                                                                                                                                                                       mechanical systems into
   UT
   UT
                                                                                                                                                                                                                       a logical world, so you can   OMA
                                                                                                                                                                                                                       click and build your motion
                                                                                                                                         2                                                                             program in minutes – as shown
   OMA
   OMA
                                                                                                                                                                                                                       in this example of a vertical   TION
                                                                                                                                                                                                                       form-fill-seal machine.
   TION
   TION
                                                                                                                                                         4                                                                                         SUITE
            Our motion control solutions are backed by Kollmorgen’s                                                                                                                                             Pipe Network             ™
            vast experience solving application-specific problems for       Motion Capabilities                                            5                                                                    Kollmorgen Visual Programming for Motion
   SUITE
   SUITE
            the many industries we serve. Kollmorgen Automation Suite       .   Absolute and incremental moves
                                                                   ™
            offers several advantages that have helped our customers        .   Jerk-limited moves (S-curve)                                                                                                    Pipe Network             ™
            accelerate the development of more precise, high-               .    CAM profiles (static or with “on-the-fly”                                                                                      Kollmorgen Visual Motion Programming
            performance motion. For example:                                 profile changes)
                                                                                                                                                                                                                                      ™
                                                                                           ®
            Superior machine synchronization, with motion-optimized runtime   .   Gearing (EtherCAT  synchronized)                    PLCopen for Motion                                                        Pipe Network
            engine and deterministic EtherCAT  network:                     .    Multiple high-speed registration methods             The Kollmorgen Automation Suite  IDE incorporates PLCopen for motion, a widely accepted open industry standard.
                                                                                                                                                                                                                Visual Programming for Motion
                                       ®
                                                                                                                                                                ™
            .  IEEE1588 distributed clock correction                         (FPGA-based capture engine)
            .  Hardware-based synchronization                               .   Homing                                                In the example shown here, PLCopen for motion is used within the Kollmorgen Automation Suite IDE to precisely
            .   PLC code execution at EtherCAT  update rate, eliminating process delay  .   Tension control based motion              control axis position based on registration marks:
                                      ®
            .   Low hardware latency                                        .                                                                                                               Registration  MC_ReadBoolPar  Fast input occurred  KEY
                                                                                                                                                                                                             Good mark detected
                                                                                                                                                                                                             Bad mark detected
                                                                                                                                                                                            on master axis
                                                                              Motion-based functional safety
                                                                                                                                                                                                      MC_ReadParam  # of consecutive bad marks  Indicates an input to
                                                                                                                                                                                                             # of Good marks
                                                                                                                                                                                                                            the MC_MarkRegist or
                                                                                                                                                                                                             Distance between good marks  MC_MachRegist functions
                                                                            .   Superimposed moves                                                                                                           Registration Compensation
            Flexible profile generation, allowing problem-solving through multiple                                                                                                                    Distance  Tolerance  Ignore
            methods branching out of standard pre-packaged tools:           .   Phase adjust                                                                                                  Photo  Fast  Good mark                 MC_Phasing
                                                                                                                                                                                                                                      User Applied
                                                                                                                                                                                                         detector
            .   Pre-loaded and user-defined motion blocks optimized for specific   .   Multi-axis interpolated motion                                                                                         Good mark        OPTION 10H  MC_MoveSuperimp
                                                                                                                                                                                                                                     MC_WriteParam
             industries and applications                                                                                                                                                    Registration Marks  Target  Registration
                                                                                                                                                                                                   Actual Axis Position  Registration  Compensation  Master oset
            .   Configurable through Pipe Network  and PLCopen for motion                                                                                                                     Master Axis    calculation
                                        ™
                                                                                                                                                                                                               Position       Lock on
                                                                                                                                                                                                                             Information
                                                                                                                                                                                                                        Numerical
                                                                                                                                                                                                             Axis position  Axis position  representation  MC_GearIn
                                                                                                                                                                                                             calculation  of the master  MC_GearPos
                                                                                                                                                                                                             (optional)
                                                                                                                                                                                                                        axis position  MC_CamIn
                                                                                                                                                                                                            OPTION 08H
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