HERGA controller German HERGA model HERGA price

HERGA controller refers to converting predetermined control schemes and planning instructions into desired mechanical motion under complex conditions, achieving precise position control, speed control, acceleration control, and torque or force control of mechanical motion. A motion controller is a specialized controller for managing the operation mode of electric motors: for example, a motor drives an object upward to a specified position via a limit switch controlling an AC contactor, then moves downward; or a time relay controls the motor's forward and reverse rotation, or intermittent operation (run-stop-run-stop). Motion control applications in robotics and CNC machine tools are more complex than those in dedicated machines, as the latter involve simpler motion forms, often referred to as General Motion Control (GMC).

HERGA controller classification

Digital I/O: Classified by voltage level, including 220VAC, 110VAC, 24VDC; classified by isolation method, including relay isolation and transistor isolation. Analog I/O: Classified by signal type, including current type (4-20mA, 0-20mA) and voltage type (0-10V, 0-5V, -10-10V); classified by precision, including 12bit, 14bit, 16bit. In addition to the general IO mentioned above, there are special IO modules, such as RTD, thermocouple, and pulse modules. Module specifications and quantities are determined by the number of I/O points. The number of I/O modules can vary, but the maximum number is limited by the basic configuration management capability of the CPU, i.e., the maximum number of backplane or rack slots.

HERGA controller functions

1) Motion planning function: Essentially generates reference values for motion velocity and position. Suitable reference values not only improve trajectory accuracy but also reduce requirements for the drive system and mechanical transmission components. General-purpose motion controllers typically provide motion planning methods that limit values affecting dynamic trajectory accuracy, such as jerk, acceleration, and velocity, allowing users to call corresponding functions directly. Motion planning with acceleration limits produces a trapezoidal velocity profile; motion planning with jerk limits produces an S-shaped velocity profile. Generally, for CNC machine tools, motion planning methods limiting acceleration and velocity reference values yield excellent dynamic characteristics. For fast positioning systems with high acceleration and short strokes, strict requirements on positioning time and overshoot often necessitate motion planning methods with continuous higher-order derivatives. 2) Multi-axis interpolation and continuous interpolation functions: The multi-axis interpolation function provided by general-purpose motion controllers is widely used in the CNC machinery industry. In recent years, the rapid development of the engraving market, especially the mold engraving machine market, has driven the development of continuous interpolation functions in motion controllers. Mold engraving involves extensive processing of short line segments, requiring minimal fluctuation in processing speed between segments and smooth transitions at speed change inflection points. This requires motion controllers to have look-ahead speed and continuous interpolation capabilities. Googol Technology's continuous interpolation motion controller, designed specifically for small segment processing, has been successfully applied in mold engraving, laser engraving, and planar cutting. 3) Electronic gear and electronic cam functions: Electronic gears and cams significantly simplify mechanical design and enable functions difficult to achieve with mechanical gears and cams. Electronic gears allow multiple motion axes to move synchronously according to a set gear ratio, making them well-suited for fixed-length shearing and shaftless register printing. Additionally, the electronic gear function allows one motion axis to follow a function defined by the motion of other axes at a set gear ratio; one axis can also follow the combined velocity of two other axes at a set proportion. The electronic cam function allows changing the cam profile via programming without grinding mechanical cams, greatly simplifying processing techniques. This function makes motion controllers suitable for applications such as quenching of mechanical cams, irregular glass cutting, and all-electric spring driving. 4) Compare output function: Refers to the motion controller outputting one or more digital signals when the position reaches a set coordinate during motion, without affecting the motion process. For example, in AOI flying inspection, the compare output function triggers CCD high-speed imaging at the set position without interrupting motion, significantly improving efficiency and image quality. Additionally, this function of Googol Technology's general-purpose motion controller has been well applied in laser engraving. 5) Probe signal latching function: Latches the moment a probe signal is generated and the positions of all motion axes. Its accuracy depends only on hardware circuits, unaffected by software or system inertia, making it well-suited for the CCM measurement industry. Furthermore, an increasing number of OEM manufacturers wish to integrate their rich industry application experience into motion control systems, designing personalized motion controller functions for different applications and control objects. Googol Technology has developed a general-purpose motion controller application development platform, giving general-purpose motion controllers a truly object-oriented open control structure and system reconfiguration capability. Users can load self-designed control algorithms into the motion controller's memory, reconstructing a special-purpose dedicated motion controller without changing the control system's structural design.

HERGA controller composition

A motion controller generates trajectory points (desired output) and closes the position feedback loop. Many controllers can also close a velocity loop internally. A drive or amplifier converts the motion controller's control signals (usually velocity or torque signals) into higher-power current or voltage signals. More advanced intelligent drives can close position and velocity loops themselves to achieve more precise control. An actuator, such as a hydraulic pump, cylinder, linear actuator, or motor, outputs motion. A feedback sensor, such as a photoelectric encoder, resolver, or Hall effect device, feeds back the actuator's position to the position controller to close the position control loop. Numerous mechanical components convert the actuator's motion into the desired form, including gearboxes, shafts, ball screws, timing belts, couplings, and linear and rotary bearings. Typically, a motion control system's functions include speed control and point-to-point control. There are many methods to calculate a motion trajectory, usually based on a motion velocity profile such as triangular, trapezoidal, or S-shaped velocity profiles. For example, electronic gear (or electronic cam), where the slave axis position mechanically follows the master axis position changes. A simple example is a system with two turntables rotating with a given relative angular relationship. Electronic cams are more complex than electronic gears, allowing the follow relationship curve between the master and slave axes to be a function. This curve can be nonlinear but must be a functional relationship.

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