CNC and MC Kernel allow OEM manufacturer to benefit the 20 years of experience in the fields of CNC and MC applications.

Isac  provides to the customer the vast experience of the company developed over time: we have applicative library for some applicative fields, we also have ready to work applications that reduce the time –to-market, they  are used as base for beginning the customization, reducing the time of development.

Common features:

Kernel includes a PLC environment that complies with the standard IEC61131; all the languages belonging to the standard can be used for develop PLC logic:

LD – Ladder Diagram;

ST – Structured Text;

FBD – Function Block Diagram;

IL – Instruction List;

SCD – Sequential Chart Diagram.

In addition, some FB can be created with C language.

Kernel can exploit multiprocessor architectures, if are available, with a dedicated processor, the time ofinterpolation can be lower than 500µs, with jitter on the order of 1 microsecond.

Kernel is composed by Kernel MC and kernel CNC. Both can run at the same time in the same CPU, sharing the same axes. Both can be controlled by the same PLC logic.

Kernel is implemented in different realtimeOS, and on different hardware:

processor x86, IntervalZero RTX

processor x86, TenasysINtime;

ARM Cortex A9, Windows Compact 2013.

(only motion control) ARM Cortex A9, distribution  Linux OSADL.

Kernel includes a Stack EtherCAT Master. **

The PC is directly connected with I/O modules, driver, inverter without the necessity of any added hardware. The pc supports all of the most used industrial fieldbuses, such as:

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Kernel allows the users to develop their own driver with minimum effort, expanding the compatibility towards their favorite fieldbuses. HMI component, the axes management and the PLC connections are suitable for new components. It is available a SDK for add components that allow the Kernel to use information from different sources. Moreover Kernel allows integration of the HMI. It includes a set of HMI components used by OEM customer for customized their HMI with all the function, but with the minimum effort. These components include interface for I/O devices, EtherCAT configurator, tool for diagnostic as oscilloscope, preview and editor of the part-program.

EtherCAT Component

Kernel inclueds an EtherCATmaster. It is a powerful component already tested with lots of servo driver and I/O interface of different producers.

The master includes all function of class A:

CoE: Canopen over EtherCAT;

SoE: Sercos over EtherCAT;

FoE: File Over EtherCAT;

VoE: Vendor-specific protocols over EtherCAT;

DC: distributed clock, either with 32 or 64 bit depth.

It is available a set of API for the integration, and the method for interaction can be synchronous or asynchronous

Routines wait for the task completion, or they publish the request and abandon immediately.

HMI provides an EtherCAT configurator that can be integrated in the HMI of the customer:

Motion Controller - MC

MC can control up to 128 axes on 8 different interpolation channels.

MC includes single axes movements, synchronized or interpolated. As synchronized movements support  functions of generic use included in the standard  PLC open MC part 1 version 2.0,as:

Camming (a CAM EDITOR is available);

Gearing;

FlyCut;

Superimposedmovement;

Phasing.

All the standard movements of blending , defined by FB, are supported.

Kernel provide lots of technical tools, useful during the startup and maintenance:

  • All the events that come from PLC and from components “core” as alarm, or warning message or generic message are stored in a non-volatile memory, and are available to be analyzed at any time;
  • Oscilloscope for the analysis of dynamic behavior of axes, for detecting information during the movement;
  • The variable PLC and CNC can be read, written and forced to runtime using HMI and script.

CNC

CNC performs part-program G-code (IS0 6983) defining the tool path with all CNC function for lots of machines:

-Lathes

-Milling machines

-Drilling machines

-Laser and thermal machines

-Waterjet machines

CNC can perform operations with 2 axes, 3 axes, 3 axes with tangent axis, with bevel or multi-rotative heading, inclined table as well as mixed –inclined configurations and multi-rotative.

It can perform a part-program for each configured  channel with dedicated axes or with shared axes between the channels.

CNC supports the robotic module with the end effector programming and with the orientation of tools in the operative space during the joint movements for various kinematics transformations,from 2 to 6 axes with six degrees of freedom.

CNC supports parametric and conversational programming.

It includes a powerful simulation environments for the test of tool path and simulation of the removed materials.

Integration model

CNC e MC  kernel can be customized; in this way they can be adapted for every need of the client.

The imagebelow shows the main components and how they can be customized.

Kernel CNC is in the centre of the image and it contains all the component of communication, interpolator, PLC scheduler and so on.  This part of Kernel is completely abstract from the hardware and it uses drivers to communicate with the hardware components.

Kernel loads drivers for the axes management, for the connection with servos and with other actuators. Kernel loads drivers for I/O.

These drivers interface are general purpose, and they can manage differenthardware interfaces and fieldbuses.  Kernel also keeps track of the enumerated device, it allows also the interaction with hardware bus interface and with devices directly from the HMI or from the PLC logic; Kernel provides a generic way to interact with standard PLC functions as DI,DO and thermostats.

kernel is delivered  with drivers for the most popular field bus and OEM users can add more.

OEMs can also include new features with additional components that are loaded by the kernel and integrated with existing ones. The OEM customers do not have anyconstraint or limit for what concerns the customization: for example, customersmay implement different ways to communicate between the central unit, or add new options for data storage.

The functionalities can directly use hardware devices, or through the drivers mentioned above, in an abstract way than hardware.

The functionalities  make available an interface with PLC environment, so that the PLC can control them.

OEMs can create HMIs to provide the best experience to the end-user. The HMI can be created with several standard tools, such as Microsoft Visual Studio or Eclipse, and in different programming languages.

kernel also includes interface components that  can be integrated in HMI, in order to reduce the time needed for the development.