The SPiiPlus provides a high level programming language called ACSPL+ and programming environment for demanding motion applications. ACSPL+ is a fully compiled, true multitasking, high-level language for programming SPiiPlus control products. The language supports complex motion-time-event sequences with accurate positioning and timing. Up to ten separate programs can run simultaneously, with programmable execution rate for each program. The host PC and the control product can continue to communicate while the programs are running. Programs can be stored in non-volatile memory.
General Features of ACSPL+:
- Multitasking compiled language
- High speed PLC programming
- Parametric programming (axis can be designated as a number)
- Complex mathematical expressions
- 64-bit floating point arithmetic
- Rich set of logical, statistical, arithmetical, trigonometrical and signal processing functions (like edge, dead zone and mechanical error mapping)
- User defined local and global variables: scalar, one-and two dimensional array
- Large user defined memory (>4Mb)
- User-defined autoroutines: triggered when a predefined condition is satisfied
- Extensive safety and diagnostics
- Real-time data collection at 1kHz or 20kHz
- User-defined units for faster development and easier adaptation of different feedback devices
Advanced Motion Control Features of ACSPL+:
- Multi-axis point to point, jog, tracking and sequential multipoint motion
- Arcs and lines by segmented motion
- Arbitrary path with PVT cubic interpolation
- Third order profiles (S-curve) with jerk, acceleration and deceleration control
- On-the-fly position, velocity and acceleration change
- Inverse kinematics and axes transforms
- Master-slave with position and velocity locking (electronic gear/cam)
- Virtual master axis capability
- Open loop (torque control) motion
- Dynamic error mapping and backlash compensation
- Control of two motors as one axis (gantry) with separate feedback for each motor
