Elmo Gold Maestro G-MAS User manual

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G‐MAS–GoldMaestro
SoftwareUser’sManual
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March2011(Ver.1.0)
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www.elmomc.com
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ImportantNotice
Thisdocumentisdeliveredsubjecttothefollowingconditionsandrestrictions:
•ThisdocumentiscopyrightedandallrightsarereservedbyElmoMotionControlLtd.This
productmaynot,inwholeorinpart,becopied,photocopied,reproduced,translated,orreduced
toanyelectronicmediumormachine‐readableformwithoutpriorconsent,inwriting,byElmo
MotionControlLtd.
•ThisdocumentcontainsproprietaryinformationbelongingtoElmoMotionControlLtd.Such
informationissuppliedsolelyforassistingusersofGoldMaestroNetworkMotionController.
•Thetextandgraphicsincludedinthisdocumentareforthepurposeofillustrationandreference
only.Thespecificationsonwhichtheyarebasedaresubjecttochangewithoutnotice.
•ElmoMotionControlandtheElmoMotionControllogoaretrademarksofElmoMotionControl
Ltd.
Documentno.XXXXXXXXXXXXXXXXX
Copyright©2011
ElmoMotionControlLtd.
Allrightsreserved.
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Tableofcontents
Chapter1: AbouttheG‐MASandthismanual..............................................................1‐3
1.1. WhatistheG‐MAS ........................................................................................1‐3
1.2. G‐MASFeatures ............................................................................................1‐4
1.3. WhattheDocumentCoversandHowtoUseIt ................................................1‐5
Chapter2: JustBeforeStartingUp ..............................................................................2‐6
2.1. PreparingYourComputer ..............................................................................2‐6
2.2. UsingtheManual’sExamples .........................................................................2‐6
Chapter3: ProgrammingPracticesandGuidelines .......................................................3‐9
3.1. Projectsandfiles...........................................................................................3‐9
3.1.1. ProjectLocationandNaming........................................................ 3‐10
3.1.2. Project’sFiles .............................................................................. 3‐11
3.1.3. Project’sDescriptionFiles ............................................................ 3‐11
3.2. Functions,VariablesandConstants...............................................................3‐12
3.3. CandHeaderFiles.......................................................................................3‐12
3.4. Wrapperfunctions ......................................................................................3‐13
3.4.1. HidingComplexand/orNotImportantCodeSegments................... 3‐13
3.4.2. HidingRepeatedSegmentsofCode............................................... 3‐14
3.4.3. ProvidingEasierInterfaces ........................................................... 3‐14
3.5. Implementingmachinesequences................................................................ 3‐15
3.5.1. Themain()programstructure....................................................... 3‐17
3.5.2. TheMachineSequences()Function................................................ 3‐18
3.5.3. TheMachineSequencesTimer()function........................................ 3‐20
3.6. Handlingerrors ...........................................................................................3‐28
3.7. Samplecode ...............................................................................................3‐30
Chapter4: G‐MASsoftwarestructureandinterfaces..................................................4‐46
4.1. TheHost.....................................................................................................4‐47
4.2. TheG‐MAS .................................................................................................4‐49
4.2.1. FunctionBlocksInterfaces............................................................ 4‐50
4.2.2. Multi‐AxisMotionControlCoreStructure...................................... 4‐50

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4.3. Thedevicenetwork.....................................................................................4‐53
4.4. Additionaltools...........................................................................................4‐54
4.4.1. KPAStudio .................................................................................. 4‐54
4.4.2. IPConfigurationoverUSB ............................................................ 4‐54
Chapter5: TheXYZrobotexample ............................................................................5‐55
Chapter6: FurtherProgrammingExamples................................................................6‐56
Chapter7: PCSoftwareInstallationandhowtouse ...................................................7‐57

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Chapter 1: About the G-MAS and this manual
ThischapterdescribestheG‐MASproductandtheorganizationofthismanual.Personsbeginningto
understandtheG‐MASandprogramit,shouldreadthismanualcarefully.However,experienced
G‐MASusersmayomitthischapter.
1.1. What is the G-MAS
TheGoldMaestro–G‐MASisanadvancedmulti‐axismachinecontroller.
Itisaprogrammablecontrolunit,withbuilt‐in,ready‐to‐use,standardized
functionalitiesforcommunications,motions,emergencies,timing,eventsandall
thatisrequired(anddesired)toimplementacompletemulti‐axismotioncontrol
system.
Thefigurebelowpresentsthestructureofamotioncontrol
systembasedontheG‐MASandElmo’sdigitaldrives.This
systemisbasedonthefollowingthreelayers:
•Hostcomputer(orPLCorHMIPanel)
•G‐MAS
•Devices(DigitalDrives,I/Ocontrollers,networkencoders…)
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Themachine’shostcomputer(orPLC,HMIpanel)typicallyexecutestheinterfacestothemachine
operatorandperformshigh‐levelmanagementandmachinealgorithms,asnecessary.

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Digitalservodrivescontrolanddrivemotors,witheachdrivegenerallyresponsibleforasingleaxis
(control,motions,safety,limits,etc.),aswellassomeI/Osthatmaybeconnectedtothedigitalservo
drive.WithElmointelligentdigitalservodrives,eachdrivecanbeprogrammedtoperformsimple
andadvancedprocesses,whichisonlylimitedtoaxislevelprocess(incontrasttomachine,ormulti‐
axeslevel).
I/Ocontrollersandotherdevicescanbeaddedtothedevicenetwork.
Thehostcomputer(orPLC,HMIpanel)isresponsibleforuserinterfacesandhigh‐levelmachine
processes,whereasthedigitalservodrives(andI/Oscontrollers)executeaxisorI/Olevelprocesses.
Therefore,anintermediarylayerisnecessarytoperformthemachine’ssequencesandmulti‐axis
synchronizedmotions.ThisisexactlywheretheG‐MAScomesin.
TheG‐MASislocatedintheintermediarylayer.Itreceiveshigh‐levelcommandsfromthehost
computer,performstherequiredmachinesequences,calculatesmulti‐axismotionsand,
opportunely,communicatesviathedevicenetworktosynchronouslysendcommandstoeachaxis.
Obviously,theG‐MASalsocollectsstatusesfromthenetworkdevicesandinturnsendsitsown
statusestothehostcomputer.
Fromthenetworkdevicesview,theG‐MASisimportant,sinceeachnetworkdeviceviewsonlyavery
narrow(axis,I/O)portionoftheoverallsystemandthereforecannotcreateorcontroloverallsystem
sequencesormulti‐axissynchronizedmotions.ThenetworkdevicesrequireadeviceliketheG‐MAS
totakethisresponsibility.
Fromthehostcomputer(orPLC,HMIPanel)view,theG‐MASisnotasimportant,asintheory,one
canimplementallthefunctionsoftheG‐MASintothehostcomputer.However,thisentailsavariety
ofsignificantdrawbackse.g.hugedevelopmenttime,significantrisks,non‐modularimplementation,
“inventingthewheel”etc.thatareeasilyandelegantlysolvedusingtheG‐MAS.
Withitsturnkey,in‐builtfunctionality(standardimplementationof:PLCopenmotions,Ethernet
communications,CANopen,CANopenoverEtherCAT,etc.)andsupportforCuserprograms,toeasily
implementamulti‐axismotioncontrolsystem,youonlyneedtowriteyourfirstCprogramfortheG‐
MAS.Thisisprobablywhyyouarenowreadingthismanual…
1.2. G-MAS Features
ThefollowingpresentssomeoftheG‐MASfeatures.YoumayrefertoElmo’swebsiteat
www.elmomc.comforadditionaldetailedinformationandbrochures.
•Highperformance,distributedmulti‐axisnetworkcontroller,withreal‐timeextensionofthe
Linuxoperatingsystem.
•Controlsupto100axesoverdevicenetworkwithahighlevelofsynchronizationandaccuracy.
•Hostcommunicationchannelsandprotocols:
Ethernet,TCP/IP,UDP(fastbinaryprotocols,MODbus,Ethernet/IP,Telnet,FTP,HTTP)
USB2.0
•Devicenetworks(fieldbuses)andprotocols:
EtherCATreal‐timedevicenetworking(CoE,Distributedclock),or:

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CANopen:DS‐301,DS‐305,DS‐401(I/Odeviceprofile),DS‐402(driveandmotioncontrol
deviceprofile)
•Built‐infunctionalblocklibraries:
Communicationwithhost
CANopenoverCANandEtherCAT
PLCopenmotion
Events
Datarecording
•Programming:
Nativeapplication'C'programmingonthetarget
IEC61131‐3,PLCopen(futurefeature)
•Packageandpowersupply:
Verycompact,spacesavingpackage.TheGoldLionforembeddedmilitaryapplications.
DCpowered:14Vto196V.
ItisimportanttonotethatoneofthemaincriteriathatguidedtheG‐MASdevelopment(together
withallElmo’sGoldfamilyproducts)wastousemarket‐leadingstandardswhereverpossible.
Furthermore,eachstandardwasaccuratelyimplemented,ensuringmandatorycomplete
implementationofthestandard.WithElmo’sGoldproductfamily,thiscanbefound,forexample,in
thehostcommunication(MODbus,Ethernet/IP),DeviceNetwork(CANopen,CANopenover
EtherCAT),safety,PLCmotionlibrary,I/Osinterfacecircuits,etc.
1.3. What the Document Covers and How to Use It
ThismanualisorganizedtocreateaprogressivepathfortheuserstartingfromtheG‐MASbasicsto
graduallyachievethepotentialforadvancedandcomplexsystemsprogramming.
ThemanualbeginsexplainingtheG‐MASstructureandprogrammingguidelinesandcontinueswitha
detailedexplanationofanApplicationprogramwrittenforanXYZrobot.
Theexplanationstartswiththetop‐levelcodestructureandlater,systematically,immersesintothe
codedetails.Therefore,forbeginners,itisrecommendedtoreadthismanualchapter‐by‐chapter.
Themanualanditscodeexamplesareorganizedtoallowthereadertolearn,chapterbychapter,
firstlyabouttheG‐MASfunctionsandeaseofuse,andthenprogressively,aboutthedetailsof
implementation,withincreasingdetailsrevealedinlaterchaptersorexplanation.

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Chapter 2: Just Before Starting Up
ThischapterpresentstherequiredpreparationsbeforeyoucanstartusingtheG‐MASanditsPC
softwareenvironment.
Inaddition,itexplainshowtheincorporatedexamplesrelatetoElmo’sdemosuitcase,andhowthey
canbeadaptedtomatchyourspecificsystem.

Thischaptermustberead,andthepreparationsdescribedwithin,implemented,tobe
properlyproficientinoperatingtheG‐MASanddevelopinguserprogramsforit.
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2.1. Preparing Your Computer
ThePCsoftwareenvironmentfortheG‐MASincludestheEAS(ElmoApplicationStudio)andtheC
programmingdevelopmentenvironment.Theseapplicationmodulesmustbeinstalledtobeableto
operatewiththeG‐MAS.
TheEASisElmo’ssetupandmaintenanceapplicationfortheGoldlineproducts,includingtheG‐MAS
andGoldDrives.AsaG‐MASuser,youwillneedthisapplicationtoconfigureyoursystem(network,
devices,etc.),communicatewiththeG‐MAS,andtoperformavarietyoffeaturesincorporated
withinEAS,e.g.tocreate,recordanddisplaymulti‐axismotions.
TheCprogrammingdevelopmentenvironmentisnecessarytodevelop(write,download,debug)C
programsfortheG‐MAS.
PleaserefertoChapter7:PCSoftwareInstallationandhowtousefordetailsregardingthe
installationoftherequiredG‐MASsoftwareprocess,andhowtousethesesoftwaremodules.

Pleasecontinueusingthismanualonlyafterproperlyinstallingtheapplicationsandunderstanding
howtousethem.Theremainderofthismanualassumesthattheuserisfamiliarwiththeapplication
environments.

2.2. Using the Manual’s Examples
TheentireCprogramsexamples(unlessspecificallymentionedotherwise)includedwithinthis
manualweredevelopedfor,andtestedwithElmo’sdemosuitcase.ThissuitcaseconsistsofaG‐MAS
andtwoElmodigitalservodrives(andmotors)connectedtoitoveradevicenetwork.

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2‐7
TheGoldLinedemosuitcaseincludestwoGoldlinedigitalservodrivesconnectedtotheG‐MASover
EtherCATwhiletheSimplIQLinedemosuitcaseincludestwoSimplIQdrivesconnectedtotheG‐MAS
overtheCANbus.
Therefore,theexamplesprovidedwithinthismanualareadjustedtoeitherconfiguration,whether
GoldorSimplIQdemosystem,andismentionedwithineachexample.However,notallexamples
mayworkforadifferentsystemconfiguration.

Itisthereforerecommendedtoconsiderpurchasingofademosuitcase(GoldorSimplIQ,depending
onyourneeds)forconvenientlypracticingthismanual’sexamples.PleaseaddressyourlocalElmo’s
saleschanneltoorderademosuitcase.
Ifyouprefertouseyourownsystemforpracticingthismanual’sexamples,youwillneedtoslightly
modifythemaccordingtothestructureofyourownsystem.Usetheguidelinesdescribedwithinthe
followingthetabletoproperlymodifythismanual’examples.


YourSystemStructureNecessarymodificationsfor
exampleswrittenforCAN
Necessarymodificationsforexamples
writtenforEtherCAT
G‐MASwith2xSimplIQ
drivesoverCANbusNone
Resourcefilethatrepresentsthe
system.
ShouldcalltheGetCommStatistics()
APIinordertocheckthatthenetwork
setupisOK.Thisisinsteadof
NetworkInfo()whichisforCAN.
ChangeoperationmodetoCyclic
PositionmodeandnotInterpolated
Position.
G‐MASwith1xSimplIQdrive
overCANbus
Newresourcefile.Orchangethe
secondaxistovirtualmode.
Asaboveplusthechangestotheleft
forthesingleaxis.
G‐MASwithNxSimplIQ
drivesovertheCANbus
(N>2)
AsaboveAsabove
G‐MASwith2xGolddrives
overtheCANbus
Currently,weuseinterpolation
mode,asdefinedinDS402ver.
II.Thenewstandardusescyclic
positioninstead.
Currently,weuseinterpolationmode,
asdefinedinDS402ver.II.Thenew
standardusescyclicpositioninstead.

G‐MAS–GoldMaestroSoftwareUser’sManual SoftwareUserManual
XXXXXXXXXXXX(0.01)

2‐8
YourSystemStructureNecessarymodificationsfor
exampleswrittenforCAN
Necessarymodificationsforexamples
writtenforEtherCAT
G‐MASwith1xGolddrive
overtheCANbusAsaboveAsabove
G‐MASwithNxGolddrives
overtheCANbus(N>2)AsaboveAsabove