Albatros is a development system for industrial automation logics, with trajectory generators that can interpolate more axes, up to 128. With this software you can configure machine groups and subgroups, combining each of them to the inputs (analogue and digital sensors), outputs (analogue and digital actuators), motor sources (analogue and digital axes), but also logics, variables, arrays, matrixes, counters, timers, along with the specific work functions, conveyed in GPL, an object-oriented automation language created by Tpa thanks to our thirty years’ worth of experience.
The user interface and Help of this development system is available translated in ten languages: Italian, English, German, Chinese, French, Spanish, Czech, Russian, Dutch, and Polish. Albatros allows managing devices connected to different fieldbuses, it is also possible to have a mixed configuration of the various fieldbuses available in the application. The fieldbuses manageable by the suite are CANopen, EtherCAT, MECHATROLINK II and GreenBUS 4, i.e. Tpa’s proprietary bus. The development system Albatros can be installed on computer platforms equipped with Microsoft operating systems.
Our application has two goals:
act as a development environment to configure the hardware environment and define the machine cycles;
act as a runtime environment to display the hardware device status and view the graphical representations of the machine working (said representations are called “synoptics”). This peculiarity allows to change the logics at any given moment, even years after having developed the application, on any machine managed by Albatros, and to test them with all the integrated development tools.
Albatros is an OLE Automation server: this means it allows third-part programs to get and edit the status of the logical and physical devices managed by the application.
Albatros displays the tree of configured devices on several levels. The Plant level consists of several machines; at Machine level, you can select the several groups composing it. At Group level, you can select the different subgroups composing it.
All of this makes reaching a device simple, which is essential to be able to efficiently automate plants consisting of thousands of sensors and actuators. Thanks to its multitasking (up to 512 parallel tasks), Albatros allows you to structure projects dedicating to each task a functional machine group. The system provides 512 PLCs exchanging data among them at the same speed as that of the microprocessors accessing the RAM memory.
Albatros makes it simple defining the working cycles, and it is equipped with a specific programming language that gives even to non-programmers the chance to describe the cycles. Tpa’s programming language is GPL, an acronym for General Purpose Language. GPL consists of the most common flow control structures, multitasking control instructions, mathematical instructions, comparison and conditional jump instructions, and of several types of data of different complexity, operating on hardware devices. There are specific groups of instructions to interpolate the axis movements.
Albatros allows describing with an editor the behavioural modes of each device group. Thanks to the parameter functions, by passing sensors and actuators as parameters, we can get an automation code that can be used again later and stored in libraries. With the debugger, Albatros allows for procedure testing even in absence of physical devices, following the step-by-step code, setting the breakpoint, displaying at each step the status of the devices and the content of the variables. This way, when we switch on the machines, we will be able to have 80% of the code already tested in simulation mode.
Albatros’ diagnostics allows displaying the sensor status and how the status of actuators, axes, and logical devices (variables, flags, timers, etc.) is handled. As for axes, there is a calibration board with oscilloscope, convenient to calibrate the dynamic characteristics of the motors associated to the cinematic chains. With Albatros you can generate synoptics.
Albatros logs the cycle and system errors in an Xml file; this will make it possible to view the errors and make targeted searches or to group specific errors, so that the analysis is more efficient. The software includes a logic analyser able to track up to 16 channels; the maximum sampling frequency for all channels is 1 ms.
Three types of algorithms are available to generate interpolation trajectories:
the first type lets you carry out linear, circular, and helicoidal interpolations on any oriented plane in space;
the second type, RTCP, lets you carry out linear interpolations through micro-vectors, with reference to the surface of the piece, managing the real-time calculations of the movements towards the fulcrum and all the adaptations of the axis dynamics necessary to cut down all sharp speed variations;
the third one, MULTILINEARE, lets you carry out linear interpolations on an imaginary curve abscissa, determined by the interpolation of a maximum of 16 axes. In this mode, you will be able to employ the maximum speed of the main axes on each single segment, and eventually slow it down, in order to consent the other interpolating axes to adhere to their own dynamics.
Albatros provides in this way sophisticated numerical control functions, so that it is possible to manage the most common geometries used by 5-axis machines with rotating double heads.