The architecture of each Soft Servo Systems product is unique, open and scalable, consisting of three layers, Windows OS Subspace, RTOS subspace, and the middle Real-Time DLL layer.
- The Windows OS Subspace layer executes the WMX2 Console, the user’s WMX2 applications, and the Network Configurator that are communicated to by their respective API sets. These GUI applications and are dedicated to functions other than real-time motion control, such as status display, user interface,?program interpreting/ loading, and file management.? These functions are performed simultaneously with the real-time motion control.
- The?DLL layer provides the interface between the engines and motion core in the real-time subspace and the user’s GUI application and devices in the Windows OS subspace. This allows all Soft Servo GUI applications to be seamlessly integrated with the motion engine.
- The RTOS Layer?contains the?Real-Time Modules: a motion core engine, Platform Engine, and for MXR2: Real-Time API and the user’s WMX2 application.?These modules are completely integrated, operate in the real-time operating system (RTOS) subspace, and perform the critical functions necessary for motion control.The computer’s CPU gives this layer the highest priority.
Software is the core of each Soft Servo system, harnessing the power of the PC, and providing the true value of Soft Servo products.
Many functions that were performed by hardware in the old days of motion control (and still are in many motion control products) are controlled by the software in Soft Servo systems. That’s what makes Soft Servo systems truly PC-based.
Additional third-party Windows applications can be easily integrated to include data processing, plant monitoring, network communication, statistical process control, and more in your Soft Servo system.
Soft Servo Systems’ products can run on Microsoft Windows 7 and Windows 7 Enterprise with a real-time kernel.
Real-Time Kernel for Windows
- Enables Windows operating systems to address the real-time developmentand execution environment of mission critical applications that require high performance and real-time determinism by adding real-time, preemptive multi-tasking to the operating system.
- Enables Windows to function as both a general-purpose operatingsystem and a high-performance real-time operating system — at the same time, on the same computer.
Motion Engines: The WMX2/MXR2 Motion Core, Kinematics and Inverse Kinematics
- These are highly advanced real-time software modules for motion control loops. The two?motion engines, the WMX2/MXR2 Motion core and the Robot Kinematics/Inverse kinematics?each forms the basis of their respective software infrastructure. All high-speed velocity and position feedback loops are closed within these motion engines.
- The motion engine performs all servo control including multi-axiscoordination, motion path generation, interpolation, accelerations/decelerations, position control, compensation, smoothing, etc.
- The motion engine operates in the real-time operating system(RTOS) subspace created by the real-time kernel.