High speed gantry

[JHU1XI1]

Hello.

How to use XM21 to achieve high-speed gantry control? Has anyone done a similar system.

There are five axes, X1(AXIS_1), X2(AXIS_2), Y, Z, G,

 

[bostroemc]

One option might be to realize this configuration as a user-defined kinematic, with the kinematic's target X position transerred to both Axis_X1 and Axis_X2.  

See IndraWorks online help under 'Extended user-defined transformation' for more information.  Functional, but minimally tested, project archive attached.   The project mock-up does not include critical features to handle the gantry axes (Axis_X1, Axis_X2) like position monitoring  and initialization.

[JHU1XI1]

Thank you for your reply.

The customer requires a high work speed and is unsure if XM has mature application cases.

X1 X2 speed 4m/s, distance of 20m.

Y Speed 4m/s，distance of 13m.

Z Speed 3.6m/s,distance of 3m.

G Speed 0.5m/s,distance of 0.3m.

[CodeShepherd · Accepted solution]

The speed is mainly limited on the hardware (motors, gear boxes, linear axis) not of the controller. In the XM22 the minimal cycle time of motion calculation and fieldbus is :

See e.g  the "IndraLogic XLC IndraMotion MLC 14VRS Functional Description" chapter "7.2 Cycle times":

XM21	XM22	XM42
4 ms	2 ms	2 ms