APOSS is the first choice, if an efficient integrated development environment (IDE) for motion control tasks and CAN communication is required. APOSS includes a high level programming language and offers powerful tools for drive optimization and application debugging.
Controllers powered by APOSS motion software are in use for…
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Recording and visualization of motion data (e.g. actual and command position, velocity) gives detailed feedback for drive and regulation optimization.
Process and internal system data can be tracked online at runtime.
Program management supports multi-code handling on the control unit. Any single program stored in the control unit can be configured for an automated start at power-on. Programs may also be selected by a PLC or simply by switches connected to the digital inputs.
One or more slaves can be synchronized to a master, e.g. required by an electronic vertical shaft.
The APOSS high level programming language supports different modes of synchronization based on the following master signals:
The combination of synchronization and marker correction compensates for slippage in any drive.
Pure velocity synchronization allows restart of a conveyor belt without any attempt to catch-up the “lost” positioning distance.
Configurable limitation of slave acceleration or velocity prevents of mechanical damage or stress.
Local or external CANopen inputs and outputs can be accessed by the same IN and OUT commands. The background CAN communication is done automatically.
Commanding of CANopen drives can be configured by parameters. Position is then captured automatically via CAN and the velocity command is sent via CAN instead of the analogue
Any CANopen device can be accessed by commands and variables supporting SDO and PDO communication. There is no need to know anything about CAN communication or protocols. Calling up the SDOREAD and SDOWRITE commands or reading/writing the PDO variables does all the CAN communication, data evaluation and error handling automatically.
The APOSS-IDE includes one of the most modern CAM editors for definition of CAM curves with or without marker correction.
Data can be typed in a spreadsheet or directly placed or modified by the mouse using the drag and drop functionality of the graphical curve editor. Online recalculation and update of position, velocity, acceleration and jerk curves is done automatically according to the currently defined data and drive parameters.
The curve between the given data points is calculated based on spline interpolation. Tangent data points allow the easy definition of curve sections where the speed of the slave must be constant and acceleration must be 0.
In addition to any synchronization or positioning task, the APOSS programming language offers position interrupts for CAM switching related to slave, master or curve position.
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