Stober MC6 motion controller User manual

Brand: Stober

Model: MC6 motion controller

Type: User manual

Motion Controller MC6

Manual

en-US

05/2018

ID 442461.04

stober.com

Table of contents STOBER

05/2018 | ID 442461.04

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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iii

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

Table of contents STOBER

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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

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.

Fig.1: AS6 – Program interface

1 Device tree

2 Horizontal tabs

3 Vertical tabs

4 Editor window

5 Message window

6 Status bar

2 | User information STOBER

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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.

Fig.2: DriveControlSuite – Program interface

1 Project tree

2 Project menu

3 Workspace

4 Parameter view

5 Plausibility view

6 Output view

STOBER 2 | User information

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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.

MC6x01

HMI from third-party

manufacturer (optional)

SPS from third-party

manufacturer (TCP, UDP

or OPC) (optional)

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

4 | System configuration STOBER

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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

Design As control cabinet PC

With 15'' touch panel

With 8.4'' touch panel

Hardware version Atom Dual-Core

Core i3 Dual-Core

Motion software

option

Control

Control + SoftMotion

Control + SoftMotion CNC/Robotics

Visu software option None

Target Visu

Web Visu

Target Visu + Web Visu

Tab. 5: Meaning of the MC6 example codes

STOBER 4 | System configuration

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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

Fig.7: Graphic type overview

1 Software version

2 Design

3 Hardware version

4 | System configuration STOBER

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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

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Stober MC6 motion controller User manual

Stober MC6 motion controller User manual

Stober MC6 motion controller User manual

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