Custom Development Software

Robot Motion Controller for
Customer Custom UI and Language,
Kinematics, Motions, and Algorithms

Custom User Interface

Custom Language

Custom Motion

Custom Kinematics

Custom Control Algorithms

coreDev provides User Interface/Robot Language/Motion/Control Algorithms in plug-in form to the motion controller(i.e. coreCon) and provides S/W and development environment for easy development.
It provides a user S/W development environment for the development of Kinematics and Motions, Control Algorithms and Custom UI of the user robot along with coreCon-supported Teaching, Job Programming Language, Motion Control, Monitoring, and Setting Functions.
coreDev is designed as a plug-in Real-Time task operation structure and works with coreCon’s builtin function to enable the user’s professional application development.
In addition, information provided by the coreCon API(e.g. joint position/velocity/acceleration, End-Effector’s position/Orientation, torque feedback from motors, control parameters, etc.) can be used to effectively apply and develop the robot of the user algorithm.

CoreCon & coreDev S/W Structure

All coreCon’s S/W functions available (teaching, job programming, monitoring, motion control etc.)

Real-Time plug-in structure

Supports EtherCAT Master, Multi-Axis and Synchrnized Real-Time Control

Supports the Real-Time S/W development including QT based Custom UI, Custom Motions, Custom Kinematics, and Custom Control Algorithms etc.

User designed motions and digital filters can be developed

C/C++ Standard Language Usage

Open source math lib (such as Eigen) available and built

Supports the torque operation mode for dynamic based control such as the impedance control or the gravity compensation

Provides PID sample source and porting guide of PID code for ROS

Provides full-source codes for 6-axis robot’s forward and inverse kinematics

Provide all documents for Linux development environment based on VMware Features

coreDev Custom Applications

Provide all documents for Linux development environment based on VMware Features

Custom Language : Custom languages and command change

Custom Motions : Interface for user motions such as cubic / B-spline, open motion lib(OMPL) other than built-in trapezoidal and s-curve motion profiles.

Custom Kinematics : Forward/inverse kinematics for user designed robots such as redundant robot or cobot etc.

Custom Algorithms : Supports for torque based controller such as the impedance control or the gravity compensation.

coreCon Robot Kinematics

Kinematics : Catesian, SCARA, Delta, Vertical articulated, Gantry, Take out, WRT, Custom

coreCon Safty Features

Emergency Stop : Switch or chain I/O

Enable Switch : Teach pendant enabling switch, Hold to run

Teach Lock : O

coreCon Robot Funtion & Language

Operation Mode : Teach, Repeat

Program Excution : Run, Stop, Hold, Continue, Step, Repeat count, Set

Coordinate System : Joint, Base, Tool, Work

Speed Settings : Percentage(%), Overrideing speed (mm/s, sec)

Motion Command : Joint, Linear, Circular, Interrupt motion

Multi-task : Motion task x 1 / Non-moiton task x 4

CP (continous path) : Fly-by point, Accuracy range (mm)

IO Command : Digital, Analog, Pulse out

Program Control Instruction : If, Do, While, For, Call, Switch, Goto

Variable / Array : O / O

Jog : Conticous, Pitch

Program Editor : Copy, Paste, Cut, Undo, Redo, Move step, Move pos

Special Funtion : Conveyor tracking, Vision, World Zone, Z-Axis compensation

Hardware Control System

EtherCAT interface provided

Custom Instruction provided

Standard coreCon program provided

Custom Robot library production possible

Standard coreCon Robot library provided

EtherCAT Master: TwinCAT, Xenomai

GUI: Qt Creator

Programming: C, C++, C#, Java

OS : Embedded Linux 4.1.15 / Build tool: Qt 4.8.7 / Xenomai: 2.6.5

Power Consumption : 500mA (Max) @ 24VDC

Communication : EtherCAT x 1 / Ethernet x 1 / RS-485 x 1

SPI Flash : 4MB SPI NOR Flash (user area)

Flash : M-RAM 2MB or 512KB(option)

Storage : MLC type eMMC 8GB Flash

Memory : DDR3 800MHz 1GB

CPU : i.MX6Q: Quad, 1.0GHz Cortex-A9 core

Download the product guide for the DAINCUBE coreDEV here.

(Click QR Code recognition or Download button)

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