Juha Kemppinen 13042016 Requirements Controller CPU capable of computing inverse kinematics Calculates motion profile for each cam mover Stepper motor controller Converts motion profiles to step and direction signals ID: 810346
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Slide1
5 DOF type 1 cam mover system – control electronics
Juha Kemppinen
13.04.2016
Slide2Requirements
Controller CPU capable of computing inverse kinematics
Calculates motion profile for each cam mover
Stepper motor controller
Converts motion profiles to step and direction signals
5 stepper motor axes to handle
Drives already purchased
Rotary absolute encoder acquisition
Renishaw encoders
BiSS
interface
5 encoders
Power supplies
Fast acquisition of 4 WPS sensors
Slide3Cables and connectors
Cable parts
type (connector)
SCEM
Qty
Mounted in
Encoder/motor
Price/unit
Price/lot
BURNDY UTO 0-12-8P-21T
chassis, male
09.31.05.116.0
5
Cam mover
Encoder
8.8 CHF
44
CHF
BURNDY UTO 0-12-8S-21T
chassis, female
09.31.05.120.4
5
Rack
Encoder
8.6 CHF
43
CHF
BURNDY UTO 0-12-5P-21T
chassis, male
09.31.05.108.0
5
Cam mover
Motor
13 CHF
65
CHF
BURNDY UTO 0-12-5S-21T
chassis, female
09.31.05.110.6
5
Rack
Motor
8.6 CHF
43
CHF
BURNDY UTO 6AC-12-8P-22T
cable, male
09.31.05.216.7
5
MCA 08
Encoder
16 CHF
80
CHF
BURNDY UTO 6AC-12-8S-22T
cable, female
09.31.05.220.1
5
MCA 08
Encoder
17 CHF
85
CHF
BURNDY UTO 6AC-12-5P-22T
cable, male
09.31.05.210.3
5
NG8
Motor
17 CHF
85
CHF
BURNDY UTO 6AC-12-5S-22T
cable, female
09.31.05.212.1
5
NG8
Motor
29.5 CHF
147.5
CHF
MCA08
04.21.48.308.9
5 x ?m
Encoder
1.1 CHF/m
NG8
04.21.52.190.8
5 x ?m
Motor
2.3 CHF/m
Total costs with 10 m cables
:
653.5
CHF
Slide4System with real-time control
Part
Qty.
Unit price
Discount
Amount
Conversion to CHF
cRIO-9068 8-Slot Integrated Controller and Chassis System, Artix-7 FPGA
1
3999.00
$
12.00%
3519.12
$
3343.16
3519.12
$
NI 9915 DIN Rail Mounting Kit for 8-slot cRIO/cDAQ Chassis
1
31.00
$
12.00%
27.28
$
25.92
27.28
$
NI PS-15 Power Supply, 24 VDC, 5 A, 100-120/200-240 VAC Input
1
221.00
$
12.00%
194.48
$
184.76
194.48
$
NI PS-17 Power Supply, 24 VDC, 20 A, Universal Power Input
1
479.00
$
12.00%
421.52
$
400.44
421.52
$
SISU-1004 4-axis stepper motor controller (C-series module)
2
999.00
$
0.00%
1998.00
$
1898.10
999.00
$
RJ45 BREAKOUT FOR SISU-1004
5
39.00
$
0.00%
195.00
$
185.25
39.00
$
CABLE FOR SISU-1004, SHIELDED, SNAGLESS, WHITE, 7FT
5
15.00
$
0.00%
75.00
$
71.25
15.00
$
SEA 9521 BiSS Interface Module
2
1168.00
€
0.00%
2336.00
€
2546.24
1168.00
€
Shipping DHL express 2 kg international
1
124.00
€
0.00%
124.00
€
135.16
124.00
€
NI 9207 8-ch (current) + 8-ch (voltage) combo module, 24bit with 50/60Hz rejection
1
640.00
$
12.00%
563.20
$
535.04
563.20
$
NI 9923 37 pin DSub terminal block for screw terminal connectivity to 37 pin DSub C Series modules
1
134.00
$
12.00%
117.92
$
112.02
117.92
$
Cables and connectors
653.5
Total (CHF)
10090.84
Slide5System without real-time control
Part
Qty.
Unit price
Discount
Amount
Conversion to CHF
cRIO-9064 4-Slot Integrated Controller and Chassis System, Artix-7 FPGA
1
1999.00
$
12.00%
1759.12
$
1671.16
1759.12
$
NI 9915 DIN Rail Mounting Kit for 4-slot cRIO/cDAQ Chassis
1
31.00
$
12.00%
27.28
$
25.92
27.28
$
NI PS-15 Power Supply, 24 VDC, 5 A, 100-120/200-240 VAC Input
1
221.00
$
12.00%
194.48
$
184.76
194.48
$
NI PS-17 Power Supply, 24 VDC, 20 A, Universal Power Input
1
479.00
$
12.00%
421.52
$
400.44
421.52
$
SISU-1004 4-axis stepper motor controller (C-series module)
2
999.00
$
0.00%
1998.00
$
1898.10
999.00
$
RJ45 BREAKOUT FOR SISU-1004
5
39.00
$
0.00%
195.00
$
185.25
39.00
$
CABLE FOR SISU-1004, SHIELDED, SNAGLESS, WHITE, 7FT
5
15.00
$
0.00%
75.00
$
71.25
15.00
$
SEA 9521 BiSS Interface Module
2
1168.00
€
0.00%
2336.00
€
2546.24
1168.00
€
Shipping DHL express 2 kg international
1
124.00
€
0.00%
124.00
€
135.16
124.00
€
Cables and connectors
653.5
Total (CHF)
7771.78
Slide6Space allocation
Without real-time control, 3U should suffice
With real-time control, 3U … 6U