SimpleMotion V2
SimpleMotion V2 is open source and royalty free field bus for industrial devices, such as motor drives and I/O's.
SM V2 is a complete redesign of the original SimpleMotion library. The main goals have been increasing flexibility and performance while still preserving the simplicity of the API.
Contents
Main features
Parameter communications
SM V2 is based on parameter communications. This means that all commands are implemented as settable and readable numeric parameters. For example commanding axis target position could be done by setting parameter such as SMP_TARGET_REFERENCE to a desired value.
Multidrop
SM V2 is based on RS485 physical interface yielding ability to link multiple device nodes into a single data link. Each device in the bus has unique address making it possible to target the commands to specific axis.
Buffered commands
In addition to instantly executed commands, SM V2 supports buffered commands meaning that commands may sent as chunks of multiple commands that are later interpreted by devices at predefined pace. This makes it possible to implement multiaxis synchronous interpolation without requiring a real time controller. Ring buffer implementation allows running infinite length sequences of commands.
Performance
Due to relatively high bitrate of RS485 bus and byte-efficient serial protocol, SM V2 performs very well in multiaxis real time & buffered applications. At default bit rate at least 6 axis continuously interpolated motion is possible.
Safety
SM V2 physical bus incorporates a dedicated wire for emergency stopping switch. All devices in the same bus will perform safe torque off function once e-stop button is pressed.
Libraray
SM V2 applications may be implemented by using a SM V2 C-language open source library. By default the library compiles on Windows & Unix and should be easily portable to other patforms, such as microcontrollers.
The library is currently under development.
Documentation
TODO
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