SPiiPlusES

UDMMC

How to Optimize the Performanceof Motion Platforms with ACS
U N I Q U E A C S M O T I O N C O N T R O L F E AT U R E S E N H A N C E P O S S I B I L I T I E SI N I N D U S T R I A L A U T O M AT I O N

W W W. P I .W S

Semiconductor
Inspection, Metrology,
Lithography (Front End)

Semiconductor
Packaging (Back End)

Flat Panel Display
Inspection & Metrology

Electronics Assembly(PCB SMT / AutomatedProgramming)

Electronics Dispensing

Laser Cutting

Laser Microprocessing

Digital / Inkjet Printing

Genome Sequencing

Medical Scanners

Additive Manufacturing/ 3D Printing

Fiber Optics Packaging& Alignment•••••

••••

••

•

GeneralFeatures

Multiple sensor types in one application

••

•

•

••

•

•

••

•

•

Modular volume production

•••

•

•

••

•

••

•

•

Functional safety STO inputs

•

•

•

•

•

•

•

•••

•

•

Vertical or
Bridge Axis

Easy
TuningSynchronization

Motion / Trajectory

DriversController

Communication with Host

Multiple drive types in one application

Safety /Reliability

Different Markets and Applications
and Their Specific Requirements

Network redundancy••

EtherCAT communication to PLC

•••

•

•••

•

•

EthernetIP communication to PLC••••

•

•

•

•

•

Controller processes NC files / G-Code•

•

•

•

CAD to motion

•

•

•

•

CNC style user interface•

•

•

•

3rd party EtherCAT drive / IO support•

•

•

•

•

••

•

•

•

•

•

Dual loop•

•

•

•

•

•

•

•

•

•

•

•

Flexible encoder support(AqB, optical sin/cos, laser /interferometer sin/cos, absolute)

•

•

•

•••••••••Highly dynamic motion:high acceleration, high speed•

•

•

•

•

•

•

•

Universal motor support (stepper,voice coil / DC brush servo, BLDC servo)

•

•

•

••

•

•

•

•

High power•

•

•

•

•

•

Trajectories for small features / motions

•

•

•

•

Gantry control

•

•

•

•

Implement complex motion-time
events and sequences

•

•

•

•

Constant velocity motion smoothness•••

Demanding stand-still jitter•••

Event (laser, camera, etc.) sychronization
with motion - triggering or on/off control••

Multi-axis coordinated motion(circular / spherical / 5-axis)•••••••••••••••••••••••••••••••••••••

Multi-axis coordinated PTP motion

••

•••

•

•••

•

•

•

Demanding accuracy specifications

•••••

•

•

•

•

•

•

•

•

•

•

High performance: load changes
High throughput laser processing Galvo / stage motion sync•

Autofocus height control•

•

•

•
•

MOTION••|•POSITIONING•••

How ACS Features
Optimize an Automation ProcessGeneral Featuresn Powerful and high bandwidth EtherCAT motion		 system network
n Control multiple drive, feedback and sensor types		 in one platformn Expandable, modular and flexible		Flexible Configuration

Communication with Host via PLC or PCn

Communicate with sophisticated Host PC User
Interface applications using powerful API librariesnCommunicate with standalone and PC based
PLCs/PACs via EtherCAT, EthernetIP, ModbusTCPn

EtherCAT PLC to SPiiPlusES: allows CiA402/
DS402 compatible, synchronuous, asynchronuous
operation, high performance motion control
networkn CAD to motion: define and plan trajectory by		G-Code, use Look Ahead for low error		 motion, develop machine with SPiiPlusSPCn

CNC HMI style user interface SPiiPlusSMC provides flexible CNC G-Code control capabilities

DrivesSafety / ReliabilitynnCertified machine functional safety STO inputs

Supporting many common		 industrial encoder types (AqB,		 Optical / Laser SinCos, absolute...)NetworkBoost for safe operation even during		 network device failures
nn

Universal motor supportn

CE and UL certified productsnWide power range

Industry leading update rates and		 control algorithms (dual loop with		 on the fly Encoder Switching,		Multiple Encoder Channels per 				Axis, ServoBoost)nControllers
nFlexible and open EtherCAT based network

nUp to 64 axes and thousands of I / Os

Implement complex motion-time events and		 sequences using ACSPL+ language and PEG and		LCM outputs
nW W W. P I .W S

Easy TuningnInstall, configure, and tune axes quickly with an intuitive user interfacenAutomated adaption to load changes ServoBoost

Vertical or Bridge Axis
n Synchronized autofocus		 height control
n Synchronization of galvo		 scanner and stage motion,		XLScan Systemn Direct laser control and		 triggering during motion		LCMSynchronizationnHigh absolute accuracy, position stabilitynMulti-axis coordinated motion (circular, spherical, 		5-axis) with minimum position errors Look Aheadn

Smooth motion at constant velocity ServoBoost,
Encoder Switchingn

Event trigger for time, position, with highresolution PEG outputs, Laser Synchronization (LCM)

Motion / Trajectory
Miniature features require small position errors		 at high speed 4/5 kHz MPU Cyclenn

Trajectory definition by G-CodenVibration cancelling Input Shaping

Settling / standstill with minimal following		error NanoPWM
nnHighly dynamic motion ServoBoostn

Easy configuration, motors mapped to logical axes Gantry Algorithmn2D / 3D coordinated motion Corner Processing, Error Mapping

W W W. P I .W S

Products which extend
the functionality of ACS systems

Options to be ordered at extra chargeStandard features of ACS systems(system = controller + drives)

Details of ACS Features and Options

NameFunction

ACSPL+ Programming

ACSPL+ is a motion control oriented multi-threading high level language with up to 64 threads runningsimultaneously. It simplifies implementation of highly complex motion-time events and sequences withaccurate positioning and timing.

API libraries

Application programing interface is a set of libraries and tools for building software applications.
For example .net for Windows applications.

Corner Processing

Increase throughput by rounding sharp corners.

Error Mapping

Bring accuracy to level of repeatability. Requires external equipment for measuring.

Gantry Algorithm

Much simpler tuning and configuration of gantry systems, with improved performance.

Look Ahead

Avoids excessive accelerations and shocks to the system while maintaining high throughput and accuracy.

Multiple Encoder Channels Per Axis

For flexible dual loop assignment. Free of charge but should be ordered in advance, not available for all products.

PEG Outputs

For triggering external devices or data collection at specific encoder positions.

Universal Motor Support

Each drive supports stepper motors, voice coils and linear motors as well as brush and brushless DC motors.

4/5 kHz MPU Cycle

Higher frequency profile generation allows smoother accelerations and corner path.

Encoder Switching

Robust handling of multiple feedbacks, allows use of very high resolution encoder only in limited process
window, and lower resolution encoder over entire travel range. Custom, application specific development.

Flexible Configuration

User can define subsystems of the network which can be operated independently e.g. during setup and production.

G-CodeMandatory for CNC applications, common for many Additive Manufacturing applications.

Input Shaping

Avoid exciting resonance.

NetworkBoost*

Enables redundancy in case of network cable / node failures which can be more likely with remotely
mounted drives. Results:• Safe operation during single failure• Indication of the situation• Recoverable during operation

ServoBoost**

Enhances servo performance, keeping actual motion closer to ideal.
It provides automatic adaptation to large changes in load and system parameters and automatic compensationof disturbances, resonances, axes interaction, cogging and more. Results:• Faster settling• Better stability• Lower jitter• Better constant velocity

STO Inputs **Achieve certified machine safety (Safe Torque Off).

LCM for laser synchronization

A hardware module that coordinates the motion with the laser operation.

NanoPWM line

All NanoPWM drives feature the DRBoost which results in unprecedented current control dynamic range ofabove 100 db.

SPiiPlusES

This controller is a SPiiPlusEC controller with an additional external EtherCAT bridge which allows any ACS
solution to act as high performance motion control subsystem under other EtherCAT master such as TwinCAT.

SPiiPlusSMC

UI / HMI platform (software) for CNC control based machines - can save machine developer many hours / weeksof effort (vs. 'building from scratch').

SPiiPlusSPCGraphical UI platform (software) for laser processing / additive manufacturing machines - can save machinedeveloper many hours/weeks of effort (vs. 'building from scratch').

XLScan System

Extends a laser scan system’s working filed by simultaneously controlling and moving a scan head and an
XY-stage. Special system, must be ordered from ACS and Scanlab.

* not available for all controllers** not available for all drives

MOTION|POSITIONING|POSITIONING

Headquarters

Subsidiaries

GERMANY

USA (East) & CANADA

USA (West) & MEXICO

Physik Instrumente (PI)GmbH & Co. KG
Auf der Roemerstrasse 176228 Karlsruhe
Phone +49 721 4846-0
Fax		 +49 721 4846-1019
info@pi.ws
www.pi.ws

PI (Physik Instrumente) L.P.
Auburn, MA 01501
www.pi-usa.us

PI (Physik Instrumente) L.P.
Irvine, CA 92620
www.pi-usa.us

USA (San Francisco Bay Area)

UK & IRELAND

PI (Physik Instrumente) L.P.
Sausalito, CA 94965
www.pi-usa.us

PI (Physik Instrumente) Ltd.
Cranfield, Bedford
www.physikinstrumente.co.uk

PI miCos GmbH
Freiburger Strasse 30
79427 Eschbach
Phone +49 7634 5057-0
Fax		 +49 7634 5057-99
info@pimicos.com
www.pi.ws

ITALY		NETHERLANDS

Physik Instrumente (PI) S. r. l.
Bressowww.pionline.it

PI Benelux B.V.
Sint-Oedenrode
www.pi.ws/benelux

FRANCE		SPAINPI France SAS
Aix-en-Provence
www.pi.ws

Micos Iberia S.L.
Vilanova i la Geltrú
www.pimicos.es

PI Ceramic GmbH
Lindenstrasse
07589 Lederhose
Phone +49 36604 882-0
Fax		 +49 36604 882-4109
info@piceramic.com
www.piceramic.com

JAPANPI Japan Co., Ltd.
Tokyo
www.pi-japan.jp

PI Japan Co., Ltd.
Osaka
www.pi-japan.jp

CHINA© Physik Instrumente (PI) GmbH & Co. KG
All contents, including texts, graphics, data etc., as well as their layout,
are subject to copyright and other protective laws. Any copying, modification or redistribution in whole or in parts is subject to a written
permission of PI.
Although the information in this document has been compiled withthe greatest care, errors cannot be ruled out completely. Therefore,
we cannot guarantee for the information being complete, correct andup to date. Illustrations may differ from the original and are notbinding. PI reserves the right to supplement or change the information
provided without prior notice.

Physik Instrumente(PI Shanghai) Co., Ltd.
Shanghaiwww.pi-china.cn

Physik Instrumente(PI Shanghai) Co., Ltd.
Beijing
www.pi-china.cn

SOUTHEAST ASIA

TAIWAN

PI (Physik Instrumente)
Singapore LLP
Singaporewww.pi-singapore.sg
For ID / MY / PH / SG / TH / VNM

Physik Instrumente (PI)Taiwan Ltd.
Taipeiwww.pi-taiwan.com.tw

KOREA
Follow us on:

PI Korea Ltd.
Seoul
www.pikorea.co.kr

W W W. P I .W S

BRO68 How to Optimize the Performance of Motion Platforms with ACS 8/2018 0.5 Subject to change without notice. © Physik Instrumente (PI) GmbH & Co. KG 2018

MOTION