Factory Automation

Motion Control Software SWM-G Features

CC-Link IE TSN Motion Control Software SWM-G

Concept

Concept

Covering a Wide Range of Multi-Axis Applications

  • SWM-G Motion Control Software is available in 16 to 128-axis control models, enabling multi-axis synchronization of various scales of machines.
Chemical mechanical polishing devices / Etching devices / Flip chip bonders / Taping devices / Electronic parts assembling machines / Mounters
  • A CPU core of the industrial personal computer is assigned for running SWM-G processing, and that enables SWM-G to perform a high-speed, real-time operation without being affected by the operation on Windows®.
Windows® Process

Reduced Machine Design and Startup Time

  • The integrated test tool SWM-G Operating Station covers the development processes of SWM-G from design to simulation, contributing to reduction in the total cost of ownership.
  • The Operating Station enables users to check the communication settings and status of the master/remote stations, leading to reduced design time. 
SWM-G Operating Station

Single-axis control

CC-Link IE TSN Configurator

Master station communication monitor

Maintenance Solution by MELIPC with SWM-G installed

When SWM-G is installed and operated on the MELIPC (industrial personal computer), the system offers a powerful maintenance solution utilizing the Edgecross-compatible software.

  • [Predictive/preventive maintenance]

    • The user application collects data of machine diagnosis function, etc. from MR-J5-G through the communication API of SWM-G.
    • The MELIPC analyzes the collected data by using the Edgecross-compatible real-time data analyzer.

  • [Corrective maintenance]

    • SWM-G collects data from the drive recorder of MR-J5-G through TCP/IP communications, which reduces troubleshooting time.

Features

Installed on a personal computer, SWM-G Motion Control Software can perform motion and network control.

  • Supports a CC-Link IE TSN servo control system with the personal computer where RTX64 (real-time extension) is installed.
    (RTX64 is included with SWM-G.)
  • Meets various application needs by offering various types of motion control, such as positioning, synchronous, cam, speed, and torque control using API library for motion control.
  • Utilizes network control to connect and set various device stations (remote I/O modules, etc.) and TCP/IP devices.
feature
Download Motion Control Software
CC-Link IE TSN

Motion Control Software *1

SWM-G*3

  • Maximum number of control axes: 128
  • Minimum operation cycle *2: 125 μs
  • Programming language: Visual C ++®

USB key for Motion Control Software

  • MR-SWMG16-U: 16 axes MR-SWMG32-U: 32 axes
  • MR-SWMG64-U: 64 axes MR-SWMG128-U: 128 axes
  • *1.SWM-G Motion Control Software includes SWM-G Engine, SWM-G API, Network API, SWM-G Operating Station, and Real Time OS (RTX64).
  • *2.The minimum operation cycle depends on the number of control axes and the CPU of the personal computer.
  • *3.SWM-G-N1 is also compatible with EtherCAT®.
  • *4.A USB key (license) is not required for the free trial version SWM-G-W. To obtain SWM-G-W, contact your local sales office.

Numerous Motion Control Functions

Positioning Control

Linear interpolation
Linear interpolation
Circular interpolation
Circular interpolation
Continuous path control (path interpolation)
Trajectory control
Helical interpolation
Speed-position switching
Jerk acceleration/deceleration
Jerk acceleration/deceleration

In this method, an axis can be accelerated gradually through adjusting jerk so that the vibrations of the machine can be minimized.
In the example above, the constant positive jerk is applied at the start of the operation to achieve smooth acceleration.
When the axis is shifted to the constant-speed operation, the same amount of negative jerk is applied.
Adjusting jerk in this way achieves smooth acceleration/deceleration while also shortening the time it takes to reach the target speed.
The speed creates a S-curve shape.

Triggered motion
Triggered motion

The triggered motion is a type of command that delays the execution of the motion command until the specified trigger condition is satisfied.
Axes can be started automatically based on the specified conditions by using this command, reducing the cycle time of conveyor systems, etc.
In the operation example above, right after the axis 2 starts execution of normal motion commands, the axis 1 executes the triggered motion command (delaying the execution of the command until the condition is satisfied).
When the condition is satisfied (start trigger ON) during the axis 2 operation, the axis 1 starts executing the motion command.

Synchronous control (tandem drive)
Synchronous control (tandem drive)

Motion Control Software enables tandem operation where the same commands can be outputted to master and following axes.

Gantry home position return
Gantry home position return

After the master and following axes pass their respective dogs, the gantry home position return stops both of the axes at the Z-phase of the master axis.
This method enables two or more axes to execute home position return simultaneously, supporting gantry systems.

A Wide Variety of Features

Hot connect (disconnection/reconnection)

The hot connect enables a topology change during operation without requesting a communication stop.
The user application disconnects and reconnects the network through API library.

Monitoring of servo data

The controller obtains the status data of servo amplifiers, such as machine diagnosis information and encoder temperature,
via CC-Link IE TSN. This enables visualization of machine status.

Position synchronous output (cam switch)

The output signal is turned on when a specified condition is satisfied. This function can be used as an alternative to a limit switch.

Touch probe (mark detection)

The current value of the servo motor can be read when the touch probe signal is inputted.
Software and hardware touch probes are available.
Select the touch probe according to your application.

Pitch error compensation

The set offset is applied at regularly spaced command positions. The position error of ball screws can be compensated, improving the operation accuracy.

Backlash compensation

The set offset is applied when the axis changes the travel direction.
The backlash of ball screws can be compensated, which improves operation accuracy of machines.

Acceleration/deceleration methods

The controller offers 24 types of acceleration/deceleration methods, such as trapezoidal, S-curve, jerk ratio, parabolic, sine curve, time acceleration trapezoidal, etc.
Select the method according to your application.

Integrated Test Tool SWM-G Operating Station

This tool provides a variety of features - parameter settings required for application development and the test operation for JOG, inching, and positioning operations. In addition, each axis status and sampled waveforms can be displayed to help user check the start timing and the operation pattern.

[Parameter setting]

Parameter setting
  • Set/check parameters of each axis on the list.
  • Import/export a setting file from/to the personal computer.

[Communication setting]

Communication setting
  • Set IP address, axis No., and communication cycle of remote stations.
  • Import/export a setting file from/to the personal computer.
  • Remote stations are automatically set depending on the communication status.

[Communication monitor of master station]

Communication monitor of master station
  • The communication monitor shows a list of communication setting of the master station.
  • Check the communication status on the system status.

[Communication monitor of remote stations]

Communication monitor of slave stations
  • Check the network status and IP address of remote stations.

[Details of remote station status]

Details of slave station status
  • Check details of network status of remote stations, and perform a communication test.

[Single control]

Single control
  • Perform a test operation for single control.
  • A repeat operation is available, which is often used for a test operation.

Multiple Servo Amplifier Settings and Adjustments

MR Configurator2 enables users to easily set and adjust multiple servo amplifiers through CC-Link IE TSN which enables mixing of TCP/IP communication and other communications.
Using MR Configurator2 with the integrated test tool, users can adjust servo amplifiers while checking the servo amplifier communication status.

  • Supports MR-J5-G
  • Manages a multi-axis system as one project
  • Parameters and the machine diagnosis can be set for all axes in a batch on MR Configurator2.
Multiple servo amplifier settings and adjustments

*MR Configurator2 is not included with SWM-G Motion Control Software.

Sample Program

This tool provides a variety of features - parameter settings required for application development and the test operation for JOG, inching, and positioning operations. In addition, each axis status and sampled waveforms can be displayed to help user check the start timing and the operation pattern.

Main
Single axis Positioning (Continuous)

Sample Libraries

API library for SWM-G Motion Control Software.

  • ■API Library Linked with SoftGOT
    • The API library enables users to easily exchange data of SWM-G Motion Control Software and SoftGOT2000.
  • ■API Library Linked with Mitsubishi Electric Products
    • The API library enables users to set parameters for CC-Link IE TSN-compatible analog I/O modules and servo amplifiers
      (MELSERVO-J5 series).

Open integrated networking across the manufacturing enterprise

CC-Link IE TSN supports TCP/IP communications and applies it to industrial architectures through its support of TSN enabling real-time communications.
With its flexible system architecture and extensive setup and troubleshooting features make CC-Link IE TSN ideal for building an IIoT infrastructure across the manufacturing enterprise.

  • *TSN: Time Sensitive Networking
  • *IIoT: Industrial Internet of Things
Open integrated networking across the manufacturing enterprise

More details

More details

Servo Amplifier MELSERVO-J5/MELSERVO-JET

Servo Amplifier MR-J5 series

The MELSERVO-J5 series high-performance, industry-leading servo amplifiers feature a unique control engine that is more powerful than ever before.
These servo amplifiers can connect to CC-Link IE TSN to perform high-speed, high-precision control.
Each multi-axis servo amplifier drives a maximum of either two or three servo motors (depending on the model of servo amplifier chosen), simplifying wiring and enabling a compact machine at a lower cost.

speed frequency response 3.5kHz Industry-leading level

More details

Servo Amplifier MR-JET series

The MELSERVO-JET series high-performance servo amplifiers feature a unique control engine that is more powerful than ever before.
These servo amplifiers can connect to CC-Link IE TSN to perform high-speed, high-precision control.
The servo amplifiers support linear servo motors in addition to the rotary motors.
EtherCAT® is supported by MR-JET-G-N1.

speed frequency response 2.5kHz Minimum communication cycle 125μs

More details

Specifications

  Motion Module
SWM-G(-N1)*2
Maximum number of control axes 16 axes, 32 axes, 64 axes, 128 axes
Communication cycle
(operation cycle settings) [μs]		 125, 250, 500, 1000, 2000, 4000, 8000
Network CC-Link IE TSN, EtherCAT®*2
CC-Link IE TSN class B
Communication specifications Mixture of hot connect, SDO communication, TCP/IP communication
Development environment • Microsoft® Visual Studio® 2017, 2019
• Programming languages supported by API library: C/C++, .NET (C#, VB.NET, etc.)
Functions Control method Position, speed, torque
Positioning Up to 128 axes simultaneously (absolute value command, relative value command),
Override is possible
Acceleration/deceleration
processing		 Trapezoidal, S-curve, jerk ratio, parabolic, sine, time acceleration trapezoidal, etc.
(24 types in total)
Interpolation 2- to 4-axis linear interpolation, 2-axis/3-axis circular interpolation, 3-axis helical interpolation, PVT
Continuous path Combination of linear and circular interpolation, spline interpolation, pre-read speed automatic control, linear/circular continuous path with rotation stage
JOG operation Provided
Real-time control Event, triggered motion, position synchronous output
Synchronous control Simple synchronization, synchronous gear ratio, synchronous phase offset,
synchronous compensation, dynamic establishment/cancellation of synchronization,
multiple pairs (up to 64 pairs) of synchronization between 1 axis and multiple axes (synchronous group)
Electronic cam Cam curves of eight systems can be defined, cam curve per communication cycle,
phase operation, clutch
Home position return *1 Home position return using the Z-phase, home position sensor, limit sensor, limit proximity
sensor, external input signal, mechanical end, and gantry axis can be performed.
I/O size Input: 8000 bytes, output: 8000 bytes
Compensation function Backlash/pitch error compensation, plane strain (straightness) compensation
Auxiliary function Touch probe, logging
  • *1.SWM-G does not support the home position return mode of the servo amplifier.
  • *2.SWM-G-N1 is also compatible with EtherCAT®.

Related Link