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Stober MC6 motion controller User manual

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Motion Controller MC6
Manual
en-US
05/2018
ID 442461.04
stober.com
Table of contents STOBER
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Table of contents
1 Foreword .............................................................................................................................. 5
2 User information.................................................................................................................. 6
2.1 Storage and transfer .....................................................................................................6
2.2 Described product type.................................................................................................6
2.3 Timeliness.....................................................................................................................6
2.4 Original language..........................................................................................................6
2.5 Limitation of liability.......................................................................................................6
2.6 Formatting conventions ................................................................................................7
2.6.1 Use of symbols............................................................................................... 7
2.6.2 Markup of text elements ................................................................................. 8
2.7 Program interfaces .......................................................................................................9
2.7.1 AS6: Structure of the program interface......................................................... 9
2.7.2 DS6: Structure of the program interfaces..................................................... 10
2.8 Symbols, marks and test symbols ..............................................................................11
2.9 Trademarks.................................................................................................................11
3 General safety instructions .............................................................................................. 12
3.1 Directives and standards ............................................................................................12
3.2 Qualified personnel.....................................................................................................12
3.3 Intended use ...............................................................................................................12
3.4 Operational environment and operation .....................................................................12
3.5 System safety .............................................................................................................12
3.6 Disposal ...................................................................................................................... 13
4 System configuration........................................................................................................ 14
4.1 Hardware components................................................................................................15
4.1.1 Nameplate .................................................................................................... 15
4.1.2 Material version ............................................................................................ 17
4.1.3 Type designation .......................................................................................... 18
4.1.4 MC6 versions................................................................................................ 20
4.2 Software components .................................................................................................24
4.2.1 Motion software option ................................................................................. 24
4.2.2 Visu software option ..................................................................................... 25
4.3 Combinable drive controllers ......................................................................................25
STOBER Table of contents
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5 Technical data.................................................................................................................... 26
5.1 Device features...........................................................................................................26
5.2 Weight.........................................................................................................................28
5.3 Dimensions ................................................................................................................. 29
5.4 Transport, storage and operating conditions ..............................................................31
6 Installation.......................................................................................................................... 32
6.1 Permitted installation positions ...................................................................................32
6.2 Drilling diagram: control cabinet PC variant................................................................34
6.3 Drilling diagram: 15'' touch panel variant ....................................................................35
6.4 Drilling diagram: 8.4'' touch panel variant ...................................................................36
7 Connection......................................................................................................................... 37
7.1 Overview: Hardware version 1....................................................................................37
7.2 Overview: Hardware version 5....................................................................................38
7.3 24V supply .................................................................................................................39
7.4 Serial RS-232 .............................................................................................................39
7.5 CANopen ....................................................................................................................40
7.6 Ethernet ......................................................................................................................40
7.7 DVI..............................................................................................................................40
7.8 USB ............................................................................................................................40
8 Commissioning.................................................................................................................. 41
8.1 DS6: Configuring the drive controller..........................................................................42
8.1.1 Initiating the project ...................................................................................... 42
8.1.2 Parameterizing general EtherCAT settings .................................................. 43
8.1.3 Configuring PDO transmission ..................................................................... 44
8.1.4 Mapping the mechanical drive model........................................................... 45
8.1.5 Synchronizing EtherCAT nodes ................................................................... 48
8.1.6 Transmitting and saving a project configuration........................................... 48
8.2 AS6: Putting the EtherCAT system into operation......................................................50
8.2.1 Creating a standard project .......................................................................... 50
8.2.2 Adding a drive controller............................................................................... 50
8.2.3 Configuring synchronization using distributed clocks................................... 51
8.2.4 Parameterizing a SoftMotion axis................................................................. 52
8.2.5 Configuring EoE communication .................................................................. 53
8.2.6 Identifying a MC6 motion controller.............................................................. 54
8.2.7 Transmitting a project configuration ............................................................. 54
8.2.8 Checking the functionality of the axes.......................................................... 55
8.2.9 Special case: Adding to the PDO transmission............................................ 55
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9 System maintenance and diagnostics ............................................................................ 57
9.1 Data backup................................................................................................................57
9.2 Restart ........................................................................................................................57
9.3 Diagnostics .................................................................................................................58
9.3.1 Hardware version 1 ...................................................................................... 58
9.3.2 Hardware version 5 ...................................................................................... 58
9.4 Maintenance ...............................................................................................................58
10 More about MC6 and AS6? ............................................................................................... 59
10.1 Important information about the MC6 .........................................................................59
10.1.1 Status LEDs.................................................................................................. 59
10.1.2 Resolution of the monitor display ................................................................. 59
10.1.3 Measures for data security ........................................................................... 60
10.1.4 Dual-use item ............................................................................................... 61
10.2 Important information about the AS6 ..........................................................................62
10.2.1 CIA 402: incremental vs. HiRes Motion version ........................................... 62
10.2.2 Synchronization............................................................................................ 64
10.2.3 Persistent variables ...................................................................................... 69
10.2.4 SoftMotion encoder ..................................................................................... 70
10.2.5 Establishing a connection............................................................................. 71
10.2.6 Changes to the file system ........................................................................... 73
10.2.7 Safety-related applications ........................................................................... 74
10.2.8 Device description file for the MC6............................................................... 74
10.2.9 AS6: example projects.................................................................................. 75
11 Appendix ............................................................................................................................ 76
11.1 Detailed information....................................................................................................76
11.2 Abbreviations .............................................................................................................. 77
12 Contact ............................................................................................................................... 78
12.1 Consultation, service and address..............................................................................78
12.2 Your opinion is important to us ...................................................................................78
12.3 Close to customers around the world .........................................................................79
STOBER 1 | Foreword
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1 Foreword
Shorter cycle times and greater precision mean ever higher requirements for drive technology.
Motion sequences are constantly becoming faster and must be coordinated to each another
with extreme precision. That is why controller and drive technology are the central factors in
increasing productivity and flexibility. A high-performance motion controller is the perfect
foundation for reliable coordination of the motion and function sequence in a growing number of
applications, in processes with high function complexity and even for very demanding
applications. STOBER has developed the MC6 motion controller to offer you completely
standalone drive and motion control architecture in one solution.
Features
§MC6 motion controller based on CODESYS V3
§AutomationControlSuite development environment for convenient program creation
§Up to 100 axes in synchronous operating mode
§IEC 61131-3-compliant programming with ST, SFC, CFC, FBD, LD, IL
§Cam disk and cam functionality
§3D CNC editor (dynamic G code)
§Robotics and transformations
§EtherCAT, CANopen, serial RS-232, TCP/IP, USB
§Different hardware versions
§Optional with touch panel
AS6 AutomationControlSuite – the multi-axis controller for the MC6 motion controller
The AS6 AutomationControlSuite development environment covers all functions included in
CODESYS 3.5 for Motion Control (PLCopen, DIN 66025) and for PLCs (Programmable Logic
Controllers) (IEC 61131-3).
Additional function blocks were specially developed by STOBER based on experience in drive
technology and are identified as such.
High-performance Drive & Motion libraries are available for creating programs. The focus was
furthermore on convenient, quick commissioning, without any programing effort and in just a few
minutes.
2 | User information STOBER
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2 User information
This manual describes the MC6 motion controller. It provides you with relevant information
about connecting and installing as well as commissioning. The target group of this manual is
specialists with knowledge of PLC and CODESYS programming.
2.1 Storage and transfer
As this documentation contains important information for handling the product safely and
efficiently, it must be stored in the immediate vicinity of the product until product disposal and be
accessible to qualified personnel at all times.
Also pass on this documentation if the product is transferred or sold to a third party.
2.2 Described product type
This documentation is binding for:
MC6 motion controller in hardware version 1 or later and software version C or later, in
combination with AS6 AutomationControlSuite software in Version 3.5.9.20 or later.
2.3 Timeliness
Check whether this document is the most up-to-date version of the documentation. We provide
the latest document versions for our products for download on our website:
http://www.stoeber.de/en/download.
2.4 Original language
The original language of this documentation is German; all other language versions are derived
from the original language.
2.5 Limitation of liability
This documentation was created taking into account the applicable standards and regulations
as well as the current state of technology.
STOBER shall assume no responsibility for damage resulting from failure to comply with the
documentation or from use that deviates from the intended use of the product. This is especially
true for damage caused by individual technical modifications to the product or projecting and
operation of the product by unqualified personnel.
STOBER 2 | User information
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2.6 Formatting conventions
Orientation guides in the form of signal words, symbols and special text markups are used to
emphasize specific information so that you are able identify it in this documentation quickly.
2.6.1 Use of symbols
Safety instructions are identified with the following symbols. They indicate special risks when
handling the product and are accompanied by relevant signal words that express the extent of
the risk. Furthermore, useful tips and recommendations for efficient, error-free operation are
specially highlighted.
ATTENTION!
Notice
This indicates that damage to property may occur
▪ if the stated precautionary measures are not taken.
CAUTION!
Caution
This word with a warning triangle indicates that minor personal injury may occur
▪ if the stated precautionary measures are not taken.
WARNING!
Warning
This word with a warning triangle means there may be a considerable risk of fatal injury
▪ if the stated precautionary measures are not taken.
DANGER!
Danger
This word with a warning triangle indicates that there is a considerable risk of fatal injury
▪ if the stated precautionary measures are not taken.
Information
Information indicates important information about the product or serves to emphasize a section
in the documentation that deserves special attention from the reader.
2 | User information STOBER
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2.6.2 Markup of text elements
Certain elements of the continuous text are distinguished as follows.
Quick DC-Link module Words or expressions with a special meaning
Detailed information Internal cross-reference
http://www.stoeber.de External cross-reference
Software and display indicators
The following formatting is used to identify the various information content of elements
referenced by the software interface or the drive controller display, as well as any user entries.
Main menu
Settings
Window names, dialog names, page names or buttons,
combined proper nouns, functions referenced by the
interface
Select
Referencing method A
Predefined entry
Save your
<own IP address>
User-defined entry
EVENT 52:
COMMUNICATION
Display indicators (status, messages, warnings, faults)
for status information referenced by the interface
Keyboard shortcuts and command sequences or paths are represented as follows.
[CTRL], [CTRL] +
[S]
Key, shortcut
Table > Insert table Navigation to menus/submenus (path specification)
Interpretation of parameter identification
Parameter identification consists of the following elements, where short forms are also possible,
i.e. only specifying a coordinate or the combination of coordinate and name.
E50 Drive controller G6 0
Coordinate
Name
Version
Drive controller
generation/series
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2.7 Program interfaces
The following chapters include an overview of the program interfaces for the described software
components.
2.7.1 AS6: Structure of the program interface
The AS6 development environment gives you a graphic interface you can use to organize your
automation projects, configure associated networks like EtherCAT, create or debug program
code or parameterize drives.
14
5
6
3
2
Fig.1: AS6 – Program interface
1 Device tree
2 Horizontal tabs
3 Vertical tabs
4 Editor window
5 Message window
6 Status bar
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2.7.2 DS6: Structure of the program interfaces
The DriveControlSuite commissioning software offers a graphic interface which you can use to
project, parameterize and start up your drive controller quickly and efficiently.
1
2
3
4
56
Fig.2: DriveControlSuite – Program interface
1 Project tree
2 Project menu
3 Workspace
4 Parameter view
5 Plausibility view
6 Output view
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2.8 Symbols, marks and test symbols
The following symbols, marks and test symbols are used in this document.
CE mark
Manufacturer's self declaration: The product meets the
requirements of EU directives.
Grounding symbol
Grounding symbol in accordance with IEC 60417-5019
(DB:2002-10).
RoHS lead-free mark
Marking in accordance with RoHS directive 2011-65-EU.
2.9 Trademarks
CANopen®,
CiA®
CANopen® and CiA® are registered European Union trademarks
of CAN in AUTOMATION e.V., Nuremberg, Germany.
CODESYS®CODESYS® is a registered trademark of 3S-Smart Software
Solutions GmbH, Kempten, Germany.
EtherCAT®,
Safety over EtherCAT®,
TwinCAT®
EtherCAT®, Safety over EtherCAT® and TwinCAT® are registered
trademarks of patented technologies licensed by Beckhoff
Automation GmbH, Verl, Germany.
Intel®,
Intel® Atom™,
Intel® Core™
Intel®, the Intel® logo, Intel® Atom™ and Intel® Core™ are
registered trademarks of Intel Corporation or its subsidiaries in
the United States or other countries.
Microsoft®,
Windows®,
Windows® XP,
Windows® 7,
Windows® 10
Microsoft®, Windows®, the Windows® logo, Windows® XP,
Windows® 7 and Windows® 10 are registered trademarks of
Microsoft Corporation in the United States and/or other countries.
PROFIBUS®,
PROFINET®
The PROFIBUS and the PROFINET logo are registered
trademarks of PROFIBUS Nutzerorganisation e.V., Karlsruhe,
Germany.
The following names used in connection with the device, its optional equipment and its
accessories are trademarks or registered trademarks of other companies:
All other trademarks not listed here are the property of their respective owners.
Products that are registered as trademarks are not specially indicated in this documentation.
Existing property rights (patents, trademarks, protection of utility models) are to be observed.
3 | General safety instructions STOBER
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3 General safety instructions
There are risks associated with the product described in this documentation that can be
prevented by complying with the described warning and safety instructions as well as the
included technical rules and regulations.
3.1 Directives and standards
The following European directives and standards are relevant to the product specified in this
documentation:
§Low Voltage Directive 2014/35/EU
§EMC Directive 2014/30/EU
3.2 Qualified personnel
In order to be able to perform the tasks described in this documentation, the persons instructed
to perform them must have the appropriate professional qualification and be able to assess the
risks and residual hazards when handling the products. For this reason, all work on the products
as well as their operation and disposal may be performed only by professionally qualified
personnel.
Qualified personal are persons who have acquired authorization to perform these tasks either
through training to become a specialist and/or instruction by specialists.
Furthermore, valid regulations, legal requirements, applicable basic rules, this documentation
and the safety instructions included in it must be carefully read, understood and observed.
3.3 Intended use
The MC6 motion controller is intended exclusively for automation in industrial systems within the
framework conditions specified by the Technical Data.
Other applications are prohibited.
3.4 Operational environment and operation
The products are designed exclusively for operation with safety extra-low voltage (SELV).
3.5 System safety
If the MC6 motion controller is connected to the Internet with network access, STOBER
recommends interposing an industrial firewall.
Furthermore, we recommend performing maintenance on the motion controller only over a
secure VPN network. However, we advise against installing antivirus software on the motion
controller because this can sometimes affect the real-time behavior.
For safety reasons, be sure to change the default password for remote access.
STOBER 3 | General safety instructions
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3.6 Disposal
Observe the current national and regional regulations when disposing of the product! Dispose of
the individual product parts depending on their properties, e.g. as:
§Electronic waste (circuit boards)
§Plastic
§Sheet metal
§Copper
§Aluminum
§Battery
4 | System configuration STOBER
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4 System configuration
The MC6 motion controller is the perfect choice for reliable coordination of the motion and
function sequence in a growing number of applications, in processes with high function
complexity and even for very demanding applications.
The following example shows one of the possible system environments for interaction between
the MC6 and the SI6 drive controller.
5
4
3
21
MC6x01
HMI from third-party
manufacturer (optional)
SPS from third-party
manufacturer (TCP, UDP
or OPC) (optional)
TCP/IP
TCP/IP
I/O from third-party
manufacturers (optional)
Gateway to other bus
systems from third-party
manufacturers (optional)
1 x PS6 supply module
3 x SI6 drive controllers
RS232 serial
Hub/switch/router
Commissioning
HMI (optional)
DVI
Fig.3: System overview for the MC6 with SI6 and PS6
STOBER 4 | System configuration
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4.1 Hardware components
Below you will find an overview of the available hardware components.
4.1.1 Nameplate
The nameplates for software versions C and D are designed differently. Detailed descriptions
can be found in the following chapters.
4.1.1.1 Nameplate up to software version C
Fig.4: MC6C01CT nameplate
Designation Value in example Meaning
Types MC6C01CT Device type according to type designation
ID No. 56564 Identification number
S/N 8765432 Serial number
Input voltage 9 – 32VDC Input voltage
Power consumption Max. 12 watts Power consumption
Protection class IP20 Protection class
CODESYS V3.5.9.3 Version of the stored software at delivery
Tab. 1: Meaning of the specifications on the MC6 nameplate
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4.1.1.2 Nameplate for software version D and later
Fig.5: MC6D01 nameplate
Designation Value in example Meaning
Types MC6D01 Device type according to type designation
ID No. 56590 Identification number
S/N 8765432 Serial number
Input voltage 9 – 32VDC Input voltage
Power consumption Max. 12 watts Power consumption
Protection class IP20 Protection class
CODESYS V3.5.11.50 Version of the stored software at delivery
Tab. 2: Meaning of the specifications on the MC6 nameplate
STOBER 4 | System configuration
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4.1.2 Material version
Another sticker with the MV number and serial number, the type designation of the respective
device and a combination of STOBER order number and order item is next to the nameplate.
Fig.6: Sticker with MV number and serial number, type designation as well as order number and order
item
Designation Value in example Meaning
MV MV0000052345 MV number
SN SN: 600154723 Serial number
— MC6D01CT Device type according to type designation
— 550007951/000100 Order number / order item
Tab. 3: Meaning of the specifications on the sticker
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4.1.3 Type designation
MC 6 C 0 1 C T
Tab. 4: Example code for the MC6 type designation
Code Designation Design
MC Series MotionControl
6Generation Generation 6
C, D Software version Version of the image
0
1
2
Design As control cabinet PC
With 15'' touch panel
With 8.4'' touch panel
1
5
Hardware version Atom Dual-Core
Core i3 Dual-Core
N
S
C
Motion software
option
Control
Control + SoftMotion
Control + SoftMotion CNC/Robotics
N
T
W
A
Visu software option None
Target Visu
Web Visu
Target Visu + Web Visu
Tab. 5: Meaning of the MC6 example codes
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4.1.3.1 Graphic representation of type overview
The following graphic provides you with a visual representation of part of the type designation.
MC6
1
5
1
0
D
C
2
23
1
Fig.7: Graphic type overview
1 Software version
2 Design
3 Hardware version
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4.1.4 MC6 versions
The following MC6 versions are currently available.
Type ID No. Description
MC6C01CT 56564 MC6 Atom dual-core motion controller (HW 1) with software
version 3.5.9.30:
§SoftMotion CNC/Robotics
§Target Visu
MC6C11CT 56565 MC6 Atom dual-core motion controller (HW 1) with 15" touch
panel and software version 3.5.9.30:
§SoftMotion CNC/Robotics
§Target Visu
MC6C01NT 56568 MC6 Atom dual-core motion controller (HW 1) with software
version 3.5.9.30:
§Target Visu
MC6C05CA 56566 MC6 Core i3 dual-core motion controller (HW 5) with software
version 3.5.6.40:
§SoftMotion CNC/Robotics
§Target Visu + Web Visu
MC6C15CA 56567 MC6 Core i3 dual-core motion controller (HW 5) with 15" touch
panel and software version 3.5.6.40:
§SoftMotion CNC/Robotics
§Target Visu + Web Visu
Tab. 6: MC6, software variant C
/