Aerotech系列（1）系统架构

System Architecture

The A3200 is a layered software product. Each layer gets instructions from the next higher layer, and after processing, sends commands down to the next lower layer. Real-time activities such as the servo loop are handled at the lower levels. Less time-critical activities such as program display are handled at the higher levels. The following software components are listed from highest to lowest layer. Refer to Figure: System Architecture Diagram.

Layer 4. Windows Applications

Layer 3. Programming Interfaces

Layer 2. Real-time Execution

Layer 1. Drive Hardware and Fieldbus Devices

The basic software package that is supplied with the A3200 controller includes the .NET Library, C Library, and Aerotech utility programs. You can use C Library to make a custom application in C or C++. You can use .NET Library to make a custom application in C#, VB.NET, or any other .NET language. Use the utility programs to configure, troubleshoot, and operate the controller.

Motion Composer, Aerotech utility programs, and custom applications can run on the PC at the same time.

Figure: System Architecture Diagram

Table:     Layer 4 — Windows Applications

Application	Description
Custom Application	A user-written application that uses one or more of the supplied software interfaces.
Console	Debug your programs with this low-level command line debug utility.
Motion Composer	Develop AeroBasic programs, jog axes, and view status.
Configuration Manager	Edit parameters and change system settings.
Digital Scope	Collect and analyze data and create one and two-dimensional plots.
Motion Designer	Graphically generate motion profiles that are executed on the controller.
CNC Operator Interface	Run programs, jog axes, view status, and operate the machine.
Firmware Loader	Load new firmware onto connected hardware.
Status Utility	See the status of all 32 axes and all four controller tasks. If you purchased the Professional Option, Status Utility shows the status of all 32 axes and all 32 tasks.

Table:     Layer 3 — Programming Interfaces

Application	Description
MATLAB Library	Use MATLAB libraries to control motion and data acquisition from MATLAB or Simulink. Refer to the MATLAB section of the A3200 Programming Help file for more information.
Internal Callback Service	The Internal Callback Service handles callbacks that do not require a graphical interface. Examples of callbacks that are handled by this service include EXE, EXEMODAL, CALLDLL, DATACOLLECT, and FILEREAD.
LabVIEW (LabVIEW VI's)	Use LabVIEW compatible VIs to command simple motion sequences, read status, and run programs. Refer to the LabVIEW section of the A3200 Programming Help file for more information.
C Library	Use the C language to develop custom applications for the A3200. Refer to the C Library section of the A3200 Programming Help file for more information.
System Library	The System Library contains the core library functionality of the A3200.
.NET Library	Use .NET languages to develop custom applications for the A3200. Refer to the .NET Library section of the A3200 Programming Help file for more information.
Communication Service	The Communication Service handles all communication between the Windows software layers and the real-time layer. If you configure the A3200 as Remote Server and Client, the Communication Service that is running on the client PC communicates through Ethernet to the Communication Service that is running on the server PC.
Shared Memory	The A3200 uses shared memory to communicate between the Windows programming environment and the real-time kernel of the A3200.

Table:     Layer 2 — Real-Time Execution

Application	Description
Library Task	The Library Task executes immediate (non-task-based) library commands.
SMC Tasks	SMC tasks do a round robin program execution of AeroBasic programs.
Events	Events signal the SMC to notify the software library of events such as call-backs.
SMC Process	The SMC process is a deterministic real-time process that is responsible for executing AeroBasic programs, generating motion trajectories, and communicating with all network drives. The SMC controller, which runs under a real-time environment on the PC, communicates to the drives through the FireWire or HyperWire. The SMC process has priority over all Windows processes that run on the PC.
Modbus TCP	The modbus TCP module that accesses Modbus enabled devices from the SMC.
EtherCAT	The fieldbus module that accesses EtherCAT enabled devices from the SMC. This requires the EtherCAT license option.
PROFINET	The fieldbus module that accesses PROFINET enabled devices from the SMC. This requires the PROFINET license option.
Fieldbus Driver	A real-time process that coordinates all Fieldbus communication from the SMC.
FireWire	This is the standard 1394 OHCI compliant FireWire interface.
HyperWire™	The Aerotech HyperWire fiber optic communication interface.

Table:     Layer 1 — Drive Hardware and Fieldbus Devices

Application	Description
Drive 1 - Drive 32	A combination of FireWire drives or a combination of HyperWire drives. This firmware is typically pre-installed on the hardware.
Fieldbus Device 1 - Fieldbus Device N	A combination of EtherCAT or Modbus devices that are connected through Ethernet.
Motor	Motors include Brushless Servo, DC Brush Servo, and stepping motors.