Korber Solutions LTI MOTION MotionOne 3 System Manual

Brand: Korber Solutions

Model: LTI MOTION MotionOne 3

Type: System Manual

MotionOne 3

System manual

Automation system

Id.-Nr.: 1556.212.1-07

MotionOne 3 Automation system System manual

Id.-Nr.: 1556.212.1-07

Table of contents

1 Introduction............................................................................. 6

1.1 Purpose of the document .................................................................................. 6

1.2 Preconditions .................................................................................................... 6

1.3 Intended use ..................................................................................................... 7

1.4 Notes on this document .................................................................................... 7

1.4.1 Contents of the document ................................................................... 7

1.4.2 Not contained in this document ........................................................... 7

1.5 Further documentation ...................................................................................... 7

1.6 Relevant countries and registrations................................................................. 7

2 Safety notes ........................................................................... 8

2.1 Representation.................................................................................................. 8

2.2 General safety insutructions.............................................................................. 8

2.3 Personnel safety ............................................................................................... 8

2.4 Safety instructions for projecting ....................................................................... 9

3 System overview .................................................................... 10

3.1 Hardware architecture....................................................................................... 11

3.2 Software architecture ........................................................................................ 11

3.3 Network design ................................................................................................. 12

3.4 Technical specification ...................................................................................... 14

3.5 MotionOne - CPU modules ............................................................................... 15

3.5.1 Extension modules .............................................................................. 15

3.6 ServoOne CM CM - Drive technique ................................................................. 15

3.7 Buses................................................................................................................. 16

3.7.1 EtherCAT .............................................................................................. 16

3.7.2 Profinet.................................................................................................. 17

3.7.3 EtherNet/IP ........................................................................................... 17

3.7.4 CAN ...................................................................................................... 17

3.7.5 Ethernet ................................................................................................ 17

3.8 VisuOne - Visualization components................................................................. 17

3.8.1 Stationary Visualization......................................................................... 17

3.8.2 Visualization systems............................................................................ 17

3.9 MotionCenter Toolsuite ..................................................................................... 17

3.9.1 MotionCenter ........................................................................................ 18

3.9.2 ViEditor ................................................................................................. 19

3.9.3 DriveManager ....................................................................................... 19

3.9.4 MotionCenter Scope ............................................................................. 19

3.10 Libraries and interfaces ..................................................................................... 19

3.10.1 IEC standard libraries ........................................................................... 19

3.10.2 MotionCenter libraries........................................................................... 20

3.10.3 OPC UA interface ................................................................................. 20

4 Assembly and removal ............................................................ 21

4.1 Space requirement ............................................................................................ 21

4.2 Air conditioning, ventilation................................................................................ 21

4.3 Use of air filters.................................................................................................. 21

5 Connections and wiring ........................................................... 22

5.1 Interfaces........................................................................................................... 22

5.1.1 CAN ...................................................................................................... 22

5.1.2 RS-232-C .............................................................................................. 23

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Table of contents

5.1.3 RS-485/422 ......................................................................................... 23

5.1.4 SSI interface ........................................................................................ 24

5.1.5 Ethernet, Gigabit-Ethernet, EtherCAT, PROFINET............................. 24

5.1.6 Graphic interface ................................................................................. 25

5.1.7 USB ..................................................................................................... 25

5.2 Connecting the bus link module ........................................................................ 25

5.3 Connecting the stationary operating panel........................................................ 26

5.4 Connecting the Handterminal............................................................................ 26

5.5 Connecting axis modules .................................................................................. 26

5.6 Test of interference immunity............................................................................ 26

6 Displays and operating elements ........................................... 27

6.1 Button and display, general information............................................................ 27

7 Operating behavior................................................................. 28

7.1 Start-up ............................................................................................................. 28

7.1.1 Display during start-up......................................................................... 28

8 Software installation ............................................................... 29

8.1 Install firmware of the control ............................................................................ 29

8.2 Install simulation on the PC............................................................................... 29

9 Configuration .......................................................................... 30

9.1 Data exchange between control and visualization ............................................ 30

9.2 Device configuration via static operating device ............................................... 30

9.2.1 Diagnosis Data .................................................................................... 31

9.2.2 Display................................................................................................. 31

9.2.3 Licenses .............................................................................................. 32

9.2.4 Network ............................................................................................... 32

9.2.5 Reboot .................................................................................................. 33

9.2.6 Version info ........................................................................................... 33

10 Device Administration (DevAdmin) .......................................... 34

10.1 Tab "Diagnostics" .............................................................................................. 34

10.2 Tab "Configuration" ........................................................................................... 36

10.3 Tab "Backup/Restore" ....................................................................................... 37

10.4 Tab "Monitor"..................................................................................................... 38

10.5 Change password for DevAdmin....................................................................... 40

11 Program development ............................................................. 41

11.1 Task priorities .................................................................................................... 41

11.2 Fast control........................................................................................................ 41

12 Diagnosis ................................................................................. 42

12.1 Control diagnosis............................................................................................... 42

12.1.1 Error codes ........................................................................................... 42

12.2 Drive diagnosis .................................................................................................. 42

12.3 Diagnosis data for LTI ....................................................................................... 42

12.3.1 Status report ......................................................................................... 42

12.3.2 Crashreport ........................................................................................... 43

12.3.3 Access to flash storage medium ........................................................... 43

13 Maintenance ............................................................................ 45

14 Disposal ................................................................................... 46

14.1 Disposal of the module ...................................................................................... 46

14.2 Disposal of the battery....................................................................................... 46

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Table of contents

15 Technical data ........................................................................ 47

15.1 Ambient conditions............................................................................................ 47

16 EC directives and standards .................................................. 48

17 Appendix: EMC-resistant wiring ............................................. 49

17.1 Basic structure of EMC measures..................................................................... 49

17.2 Which EMC measures must be taken?............................................................. 49

17.3 Checklist of EMC measures.............................................................................. 50

18 Appendix: Tutorial - creating an IEC project .......................... 51

18.1 Creating a new project ...................................................................................... 51

18.2 Creating a simple program................................................................................ 53

18.3 Saving MotionCenter LX project ...................................................................... 55

18.4 Create target USB stick .................................................................................... 55

18.5 Configuration of the control ............................................................................... 57

18.6 Compiling project and uploading onto control ................................................... 58

18.7 Starting the project ............................................................................................ 59

18.8 Create and execute the simulation of a control................................................. 60

18.8.1 Create simulation................................................................................. 60

18.8.2 Execute simulation ............................................................................. 61

19 Appendix: Tutorial - Creating a visualization .......................... 62

19.1 Selecting variables for visualization .................................................................. 62

19.2 Adding the visualization to the control configuration ......................................... 62

19.3 Creating a new visualization project.................................................................. 63

19.4 Edit mask .......................................................................................................... 63

19.5 Generating code for the visualization project .................................................... 65

19.6 Load visualization onto the control .................................................................... 65

19.7 Restart of the control ......................................................................................... 66

20 Appendix: Connection examples ............................................. 67

20.1 MO CM with connected axis group.................................................................... 67

20.2 MO CM with directly added SO CMP with power unit and separate SO CMP

without power unit..............................................................................................

20.3 MO CM with directly added SO CMP with power unit and separate SO CMP

with power unit...................................................................................................

20.4 MO CM connected bus coupler module ............................................................ 69

21 Appendix: Addressing in the Ethernet (basics)........................ 70

22 Appendix: Terminology ............................................................ 71

Index ........................................................................................ 72

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Introduction

1 Introduction

1.1 Purpose of the document

This document describes the structure of the MotionOne system..

In addition, it describes the assembly and installation, the wiring aswell as the opera-

tion and displays of the modules.

The installation and configuration is described enough to obtain an operationally

ready system. "Ready for operation" means that the system and/or the respective

CPU modules are ready for loading the customer application.

1.2 Preconditions

The system manual is intended for all those using a MotionOne 3 system or those

who plan to use such a system.

Only electrically trained personnel, as specified by VDE 1000-10, are authorized to

install and maintain a system.

Target group Prerequisite knowledge and ability

Safety engineer

for"Functional safety"

Technical training (university of applied science, engineering training

or corresponding professional experience).

Knowledge about:

• Principles of functional safety

• Relevant standards and safety regulations for the machine/sys-

tem, particularly knowledge about validation according to EN ISO

13849,

• Special risk potential of the machine/system and the production

process

• Specific protective measures to avert machine-specific hazards

(based on hazard and risk analysis)

• Functioning and application limits of the safety components (in-

cluding safety PLC)

• In-depth knowledge of national accident prevention regulations.

Target group Prerequisite knowledge and ability

Project engineer

Technical basic education (advanced technical education, engineering

degree or corresponding professional experience),

Knowledge about:

• the method of operation of a PLC,

• current valid safety regulations

• the application.

Electrician

Professional training in electrical engineering (based on industry-stan-

dard training guidelines).

Knowledge about:

• Current valid safety regulations,

• Wiring guidelines,

• Circuit diagrams,

• System analysis and troubleshooting,

• Professional installation of electrical connections according to na-

tional and international directives

Programmer

Technical training (University of Applied Science, engineering degree

or corresponding professional experience).

Knowledge about:

• Method of operation of a PLC,

• Current valid safety regulations,

• Programming of a PLC (IEC61131).

Start-up technician

Basic technical training (technical college, engineer training or corre-

sponding professional experience).

Knowledge about:

• Current valid safety regulations,

• Method of operation of the machine or plant,

• Fundamental functions of the application,

• System analysis and troubleshooting,

• Setting options on the operating devices.

Service technician

Basic technical training (technical college, engineer training or corre-

sponding professional experience).

Knowledge about:

• Method of operation of a PLC,

• current valid safety regulations

• Method of operation of the machine or plant,

• Diagnostic options,

• Systematic fault analysis and remedial action.

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Introduction

1.3 Intended use

A MotionOne system may only be used for the types of use described in the technical

descriptions and only in conjunction with recommended/approved third-party equip-

ment/installations.

All modules of the MotionOne system have been developed, manufactured, tested

and documented in accordance with the appropriate safety standards. Therefore, the

products do not pose any danger to the health of persons or a risk of damage to

other property or equipment under normal circumstances, provided that the instruc-

tions and safety precautions relating to the intended use are properly observed.

The system is intended for installation in a control cabinet and may only be used in

the following way:

• Only in the industrial sector

• in accordance with regulations

• In a faultless technical condition

• In its original state without unauthorized modifications.

Only alterations and modifications described in the accompanying documentation are

authorized.

Preconditions for correct operation with functional safety are:

• The correct projection of the system

• The correct and complete installing of all components under the designation of

the specified environmental conditions.

• Creation of a complete safety application

• Verification and validation of all safety functions

• Compliance of the requirements of the machine directive and local law for the

complete machine if necessary.

1.4 Notes on this document

Information

If necessary, also adhere to the documentation accompanying the mod-

ules.

1.4.1 Contents of the document

• System overview

• Explanation of all operating elements and displays

• Description of the assembly and installation

• Operating behavior

• Description of the software installation

• Description of the software interfaces

• Diagnosis and maintenance information

• Technical data

• EMC and wiring guidelines

• Terminology

1.4.2 Not contained in this document

• Programming instruction

• Application diagnosis

• Firmware description

1.5 Further documentation

Documents for systems components (drive technology, teach pendants, controls, IO-

modules, ...) are included in your shipment. For each product an operation manual

exists, which includes detailed information about start-up and operation. Documenta-

tion of the tools is integrated as online help.

1.6 Relevant countries and registrations

Standards and test values which the product conforms to and meets are contained in

the chapters "Technical Data" and "EC directives and standards". For the EU guide-

lines relevant to the product please see the declaration of conformity.

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Safety notes

2 Safety notes

2.1 Representation

At various points in this manual, you will see notes and precautionary warnings re-

garding possible hazards. The symbols used have the following meaning:

DANGER!

indicates an imminently hazardous situation, which will result in death or

serious bodily injury if the corresponding precautions are not taken.

WARNING!

indicates a potentially hazardous situation, which can result in death or se-

rious bodily injury if the corresponding precautions are not taken.

CAUTION!

means that if the corresponding safety measures are not taken, a poten-

tially hazardous situation can occur that may result in slight bodily injury.

Caution

means that damage to property can occur if the corresponding safety mea-

sures are not taken.

ESD

This symbol reminds you of the possible consequences of touching electro-

statically sensitive components.

Safety information

Describes important safety-related requirements or informs about

essential safety-related coherences.

Information

Identifies practical tips and useful information. No information that warns

about potentially dangerous or harmful functions is contained.

2.2 General safety insutructions

The documentation contains information necessary for planning the use of the Mo-

tionOne system.

Familiarity with and correct application of the information contained in these manuals

is a prerequisite for successful planning and safe installation, commissioning and

maintenance of automation systems. Only properly qualified personnel have the re-

quired specialist knowledge to correctly interpret and implement the instructions

given in this manual.

Not every single detail of every version of the products described is listed nor can ev-

ery conceivable practical situation be taken into consideration. Should you require

additional information, please contact LTI.

When installing, commissioning and servicing MotionOne products the instructions

given in the relevant part of the documentation must be observed.

2.3 Personnel safety

WARNING!

Unqualified interventions in the control may cause abnormal behavior of

the machine/plant or personal injury or damage to the equipment. Only

specially qualified staff may carry out activities on the control system.

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Safety notes

2.4 Safety instructions for projecting

CAUTION!

• The instructions contained in the further delivered must be precisely

followed in all circumstances. Failure to do so could result in the cre-

ation of potential sources of danger or the disabling of protective cir-

cuits integrated in the MotionOne 3 system.

• Apart from the safety instructions given in these manuals, safety pre-

cautions and accident prevention measures appropriate to the situation

in question must also be observed.

• Measures must be taken to ensure that in the event of power dips or

power failures, an interrupted program can be properly restarted. In

such situations, dangerous operating conditions must not be allowed to

occur even temporarily.

• In all situations where faults occurring on the automation system could

cause personal injury or significant damage to machinery and equip-

ment, additional external safety measures must be taken in order to

ensure the system as a whole remains in a safe operating condition

even in the event of a fault.

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System overview

3 System overview

The field of application of the MotionOne 3 system is general machine and plant au-

tomation. The system is based on a modular concept and can be structured accord-

ing to specific functional requirements.

Furthermore the system provides a development platform with which own software

developments can be created. This platform consists of a Linux operating system ad-

justed for the hardware, a central tool for projecting and diagosis and a tool for safe

programming and configuration of the modules.

The system consists of the following components:

• MotionOne: PLC, various CPU modules with variable performance and charac-

teristics.

• COconnect: Modular I/O system with attachable modules for various applica-

tions. Bus link modules allow decentralized placement of the modules.

• VisuOne: Stationary operating panels and mobile handheld terminals for the op-

eration of machines.

• ServoOne CM: Drive technology with integrated safety features for machines.

• MotionCenter: Toolsuite for automation challenges, consisting of tools for config-

uration, programming, visualization, startup and diagnosis. To facilitate program-

ming there are software libraries available.

Fig.31: Example for a system structure

1 Control 2 Power module

3 Axis module 4 Tool suite

5 Stationary operating device 6 Mobile handheld terminal

7 External peripherie (e.g. USB stick) 8

Bus link module with attachable IO

modules

9 IO modules 10 Drive technology

a Ethernet b DVI

c USB d Field buses

e EtherCAT f Power cable

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System overview

3.1 Hardware architecture

Devices are connected according to their signal type, e.g. via analog or digital input

or output modules, interface modules, etc.

For greater distances between the transducers a decentralized groups of IO module

clusters can be used. These can be connected with the CPU module via bus link

modules.

All modules must be integrated into a control cabinet. Their enclosure only provides

mechanical protection; the EMC shielding happens inside the device. For greater dis-

tances between the transducers a decentralized groups of IO module clusters can be

used. These can be connected with the CPU module via bus link modules.

The operating and display devices can be arranged at a suitable location somewhere

on the machine/plant.

During the start of the system, the runtime system compares the current hardware

configuration (actual configuration) with the hardware configuration (set configuration

saved in the MotionCenter project. Deviations in configuration or faulty modules can

be identified via the inquiry of the module status in the IEC application. The response

is set here via the program (e.g. error output on the visualization, restricted function

in the optional I/O modules, etc.)

3.2 Software architecture

The following graphic shows the software structure of the MotionOne 3 system.

Fig.3.2: SW overview

The control application, the robot application and the visualization application of the

stationary operating panel are executed on the control. Libraries and interfaces are

available to access the control programmatically.

The visualization application TeachView is executed on the mobile handheld terminal

(VOpanel-M) . This allows a robot program to be created or taught online.

The tool suite is installed on a PC. The programs are used for parameterization, pro-

gramming, and diagnostics.

The control software is based on a Debian (Linux) operating system with customized

scope.

Information

The version number of your MotionOne 3 system can be found in the sup-

plied release notes!

The following runtime systems operate in parallel on the control:

IecRT

The used runtime system corresponds to the IEC 61131-3 standard. The following

topics are covered:

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System overview

• IEC programming: All languages

• Robot programming: Robot-specific functions can be used (see PLC robotic pro-

gramming manual).

• Axis interface: Function blocks to control axes directly from the IEC application.

• Advanced programming: Interface for the programming of motion libraries based

on the axis interface.

• RC interface: Function blocks to control the robot control from the IEC applica-

tion.

3.3 Network design

Typically, the components of the control system are located in their own network (ma-

chine network) that is inaccessible from the outside. The control offers an additional

network connection in order to access the control from a thirdparty network (external

network), e.g. for service work.

Fig.3.3: Network design

A External network B Machine network

The IP address of the external network is typically specified by a network administra-

tor. At initial startup of the control with MotionCenterthe IP addresses of the devices

are not attuned with each other. The network settings of the PC or the controls there-

fore must be adjusted.

The communication connection between PC and control can either take place

through a direct connection via a crossed Ethernet cable between the Ethernet inter-

face of the PC and the On-board-Ethernet of the control or via a switch.

If a DHCP server exists on the network, the network address can be obtained auto-

matically. If no DHCP server exists, or if there is a direct connection between the con-

trol and the PC, a static network address must be used.

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System overview

Information

The control and tools do not support NAT (Network Address Translation).

This limitation must be taken into consideration, especially when operating

via a VPN tunnel or through a firewall!

If a firewall is used in the system, port 1740 must be open for UDP traffic

(incoming as well as outgoing). Otherwise a connection to the control will

be impossible.

Please contact your network administrator for questions concerning the

network operation.

The PC in the external network can only communicate with the control. Communica-

tion with additional components of the system is not possible in this network struc-

ture.

IP addresses of the control system components are completely independent from the

IP addresses of the external network. The following values are factory preset by de-

fault.

Name Adresse

Control (ETH1): 192.168.39.100

Subnet mask: 255.255.255.0

Gateway: 192.168.39.1

Mobile handheld terminal: 192.168.39.110

Information

If more handheld terminals are used different IP addresses must be set for

them.

Information

To change the IP address of a handheld terminal the device must be con-

nected to a network.

The IP addresses of the I/O modules or drives are set in MotionCenter EoE settings

(see online help).

Connection handheld terminal - control

The mobile manual operating device can be connected to the control as follows:

• Directly on the control (standard configuration).

This option is preconfigured by default. When the mobile manual operating de-

vice is connected at port ETH1 of the control, it automatically connects with the

control (if the standard IP address is also utilized there). No additional configura-

tion is necessary.

• Via a switch

Via a switch The switch is connected to the port ETH1 of the control. The mobile

manual operating device connected to the switch connects automatically with the

control, if the standard IP address is used on both devices. If more handheld ter-

minals are used different IP addresses must be set for them. At the same time, a

service PC that has been given a compatible IP address can be connected to the

switch.

Information

A maximum of 3 handheld terminals can be used simultaneously.

Connection service PC - system components

For a service PC to be able to communicate with additional components (e.g. drives),

it must also be located in the machine network. For that, the service PC is either con-

nected via a switch or directly to the ETH1 port of the control and must get an IP ad-

dress by the user that is compatible with the network.

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System overview

Fig.3.4: Service PC in the machine network

Communication with of the drives takes place via EoE (EtherCat over Ethernet). This

configuration is carried out in MotionCenter. See online help of MotionCenter.

3.4 Technical specification

This chapter provides a functional overview of the available hardware classes of the

MotionOne system.

MO CM-3.x

MO CM-3.x-..-00xx MO CM-3.x-..-01xx

Performance data

Min. cycle time general 1 ms 1 ms

Min. cycle time motion task 8 ms 2 ms

MO CM-3.x-..-00xx MO CM-3.x-..-01xx

PLC Open axes (single axes via library

MFB)

128 128

Max. size of retain data memory for

each application

8 kB 8 kB

RAM 1 GB 2 GB

Handling applications via EasyMotion library

Handling axes (each kinematic) 7 7

Auxiliary axes 6 6

MO CM-6.x

MO CM-6.x-..-00xx MO CM-6.x-..-01xx

Performance data

Min. cycle time general 1 ms 1 ms

Min. cycle time motion task 1 ms 1 ms

PLC Open axes (single axes via library

MFB)

128 128

Max. size of retain data memory for

each application

8 kB 8 kB

RAM 1 GB 4 GB

Handling applications via EasyMotion library

Handling axes (each kinematic) 7 7

Auxiliary axes 6 6

Multikinematics: Number of mobile kinematics

Legend:

- Not available

o not specified / not tested

Example application: Delta robot, EtherCAT IO's, without dynamic torque

model, with conveyor tracking

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System overview

Cycle time

MotionTask

8ms

MotionTask

6ms

MotionTask

4ms

MotionTask

2ms

MotionTask

1ms

CM-6.x-..-01x

14 12 8 4 2

CM-6.x-..-00x

12 8 4 4 2

CM-3.x-..-10x

4 2 2 1 -

LACP 265/X 2 1 1 - -

CM-3.x-..-00x

1 - - - -

Example application: Delta robot, EtherCAT IO's, with dynamic torque model,

with conveyor tracking

Cycle time

MotionTask

8ms

MotionTask

6ms

MotionTask

4ms

MotionTask

2ms

MotionTask

1ms

CM-6.x-..-01x

12 8 4 4 2

CM-6.x-..-00x

o 8 4 2 1

CM-3.x-..-10x

4 2 2 - -

LACP 265/X 2 1 1 - -

CM-3.x-..-00x

1 - - - -

3.5 MotionOne - CPU modules

The CPU module is an intelligent processor control, which is responsible for the pro-

cessing of programs.

Name Processor Interfaces

LACP 265/X

Intel ATOM 1,8 GHz, 1 GB

RAM

• CAN

• EtherCAT Master

• 3 x Ethernet

• 1 x USB

Information

The third Ethernet interface of the (ETH2) can only be used as EtherCAT

interface.

3.5.1 Extension modules

The CPU modules provide different slots for extension modules (additional CAN-,

Ethernet- or serial connections) on the front side.

The following table shows the available extension modules, which can be inserted

into the CPU modules:

Model Description

LAFX 200/A CAN interface module

LANX 252/A Ethernet interface module

LASX 210/A Serial interface module, RS232-C, full duplex

The Ethernet interface of the extension module can only be used as EtherCAT.

3.6 ServoOne CM CM - Drive technique

ServoOne CM CM offers comprehensive, one-stop shopping drive solutions with inte-

grated safety and it is designed to handle anything from simple, low performance ap-

plications up to complex, high performance applications.

The complete solution consists of the control module MO CM, the attached supply

module SO CMP and attached axis modules SO CM-x.

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System overview

Available MO CM variants

Processor

Safety func-

tion

Master in-

terface

Slave inter-

face

Safety con-

trol

CM-3.x-..-00x

Intel Atom

E660 1,3 GHz

1 x EtherCAT

master inter-

face

RT-Ethernet

Slave

CM-3.x-..-01x

Intel Atom

E3845 1,9

GHz

1 x EtherCAT

master inter-

face

RT-Ethernet

Slave

CM-6.x-..-00x

Intel i3 Dual-

Core 2310E

2,1 GHz

2 x EtherCAT

master inter-

face

RT-Ethernet

Slave

CM-6.x-..-01x

Intel Celeron

3955U 2,0

GHz

1 x EtherCAT

master inter-

face

RT-Ethernet

Slave

Drive modules

Designation EtherCAT (CoE) CAN (CANOpen)

SO CM-x x -

ServoOne 84 x -

ServoOne 22 Junior x -

ServoOne Safety x -

CDB2000, CDB3000 - x

CDE3000 - x

CDF3000, CDF3000Light - x

ServoCPlus - x

ServoA x -

Supply modules

Supply module CAN EtherCAT

SO CMP - x

Information

The order numbers and details concerning the devices can be found in the

respective operation manual

3.7 Buses

The following sections give an overview and description about all buses supported by

MotionOne system.

The following master field bus interfaces are available depending on the control:

• EtherCAT

• Profinet

• CAN

• Ethernet

The following slave field bus interfaces are available depending on the control:

• EtherCAT

• Profinet

• Ethernet/IP

• CAN

3.7.1 EtherCAT

All variants of the CPU module can be can be equipped with an EtherCAT interface

via software configuration. EtherCAT interfaces can be used for the connection of

slave devices (e.g. drives, I/O modules).

CPU module Onboard LANX 252/A

LACP 265/X 1x 1x

Information

The interfaces of the option modules as well as the ETH2 port of the con-

trol can only be used as EtherCAT interface. A use as Ethernet is not pos-

sible.

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System overview

3.7.2 Profinet

All variants of the MO CM CPU modules can be equipped with an (Slave) PROFINET

interface via software configuration. A CPU module can thus be connected to a (su-

perior) Profinet controller. PROFINET (Process Field Network) is an open Ethernet

standard for automation based on Industrial Ethernet. Industrial Ethernet and Stan-

dard Ethernet components can be used together. PROFINET enables the automation

of applications with real-time requirement as well as a seamless integration of field-

bus systems.

3.7.3 EtherNet/IP

EtherNet/IP (Ethernet Industrial Protocol) is an open commercial fieldbus system,

which is standardized in the international standard series EN 61158. EtherNet/IP

uses the industrial protocol CIP (Common Industrial Protocol) via the classic Ethernet

network.

All variants of the MO CM CPU modules can be equipped with an (Slave) EtherNet/

IP interface via software configuration.

3.7.4 CAN

The availability of CAN interfaces in the system is realized by the onboard interface

of the LACP 26x or by adding a LAFM 200/A or FM 500 on this CPU module or on a

bus link module.

3.7.5 Ethernet

All versions of the CPU modules are equipped onboard with two Ethernet interfaces.

The ETH0 interface is used as a connection to the external network, ETH1 is exclu-

sively used for the connection of the machine network.

3.8 VisuOne - Visualization components

VisuOne provides a large selection of stationary panels and mobile handheld termi-

nals. Visualization masks can easily be created and configured by using ViEditor. A

large number of widgets and predefined system masks are available for application

development.

The following sections give an overview about visualization components supported

by the MotionOne 3 system.

3.8.1 Stationary Visualization

The following table contains a list of available panels for stationary visualization. All

panels are equipped with touch screens.

Panel Description

LAOP 430-LD/A-0000 8,4" TFT, 800x600 pixel, 10 keys with LED, 16 digital inputs

LAOP 450-LD/A-0000 12,1" TFT, 800x600 pixel, 10 keys with LED, 16 digital inputs

LAOP 460-LD/A-0000 15" TFT, 1024x768 pixel, 10 keys with LED, 16 digital inputs

3.8.2 Visualization systems

With the visualization systems a visualization application for mobile handheld termi-

nals or stationary panels can be created with ViEditor.

The following tables contains a list of available visualization systems.

KeView Description

ViApp

The visualization system is optimized for touch operating and

provides beside basic functionalities such as online help, print,

unit and language switching additional functionalities for diag-

nosis, service and system optimization.

3.9 MotionCenter Toolsuite

The tools connect to the controller via Ethernet. They are used for configuration,

parametrization, programing, debugging and diagnosis of a control. The following

tools are available:

• MotionCenter for configuration and programming::

MotionCenter is used for configuration, parameterization, programming and de-

bugging of control applications. The configuration of a robot is carried out via

configuration masks.

• ViEditor for programming visualizations::

ViEditor is used for programming ViApp and TeachView visualizations which can

be displayed on stationary panels or on mobile handheld terminals.

• Configuration, parameterization and diagnosis with DriveManager:

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System overview

DriveManager is used for configuration, parameterization and diagnosis of

drives.

• MotionCenter Scope for diagnosis:

With the help of MotionCenterScope, variables may be monitored, recorded, and

displayed. In contrast to a debugger no program interruption is required. Vari-

ables can be presented as tables, diagrams, or 3D views. The following basic

features are available:

– recording of PLC- and RobotControl variables

– triggers (pre- and post triggers)

– diagrams: variable monitor, event monitor, X vs. Time diagram, X vs. Y dia-

gram, 3D-view.

These Tools are described in more detail in the following chapters.

3.9.1 MotionCenter

The MotionCenter development environment offers a comfortable user interface with

the following functions:

• Configuration and parameterization of the MotionOne system (including the PLC

configuration)

• Offline creating of robot sequence programs

• Programming according to IEC 61131-3

• Integrated module libraries (see library descriptions)

• Library administrator for integrating additional libraries

• Simulation mode (enables projects to be tested on the PC without PLC)

• Debugging functions (testing program sequence, monitoring and modifying vari-

ables, error search).

Programming languages

MotionCenter offers all 5 programming languages standardized in EN 61131-3.

There are two textual and three graphic programming languages. Each of these lan-

guages has specific characteristics that are ideally suited for carrying out specific

tasks. Furthermore MotionCenter offers the extension "Function block diagram

(FBD)".

Programming language Type Description

Instruction List

(IL)

Textual programming lan-

guages

The instruction list enables

the programmer to describe

the work processes of control

tasks with simple instructions.

The structure of the language

enables complex tasks to be

carried out efficiently.

Structured text

(ST)

Structured text comes closest

to the programming lan-

guages Pascal and C used

for the PC. It consists of a se-

ries of instructions that can be

executed in high-level lan-

guage ("IF..THEN..ELSE") or

in loops (WHILE..DO).

Sequential Function Chart

(AS)

Graphic programming lan-

guages

Enables programming of se-

quences and is therefore

suited for structuring and ar-

ranging of projects.

The Sequential Function

Chart describes the temporal

sequence of the various steps

within the program with transi-

tions and connections.

Function block diagram

(FUP)

Allow programming with logi-

cal symbols. It is very suitable

for logic controls.

Continous graphic Function

Chart

(CFC)

In addition, based on the

function chart there is the

continuous graphic function

chart (CFC) in which ele-

ments can be placed freely

and feedback can be inserted

directly.

Ladder Diagram

(KOP)

The ladder diagram was de-

veloped from the circuit dia-

gram. The representation of a

ladder diagram program re-

sembles a circuit diagram -

relative to the representation

of the logical links.

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System overview

Library administrator

To facilitate programming, MotionCenter makes it possible to organize objects that

are not related to projects into libraries, such as modules, declarations and visualiza-

tions. For this purpose a library administrator is available for integrating and viewing

of libraries.

3.9.2 ViEditor

ViEditor is a graphic editor for creating visualization applications for a MotionOne au-

tomation system.

Using this editor, the user interfaces for the machine operation can be created in con-

junction with an IEC project. The target system is a MotionOne control with stationary

panels and/or with mobile handheld operating devices.

When creating operating masks, the ready-made visualization applications (alarm

masks, file explorer, IO monitor, variable monitor, oscilloscope,...) as well as graphi-

cal elements (widgets) can be used for the individual mask design.

Depending on the development system installed on your computer, the visualization

is completely created in a tool suite and executable program code is generated which

can be loaded directly onto the control from the tool. Additionally, ViEditor can run a

simulation of the visualization application on your computer.

Supported visualization and development systems

ViEditor supports the creation of visualization applications on the following visualiza-

tion and development systems:

• Visualization ViApp (JAVA based): Configuring and programming of masks.

• Visualization TeachView (JAVA based). The masks can be enhanced by includ-

ing user specified masks.

For further information see the online help of ViEditor.

3.9.3 DriveManager

DriveManager is used for configuration, parameterization, and diagnosis of drives.

The tool offers the following options:

• Configuration and parameterization of SO CM-x for the MotionOne system.

• Diagnosis of SO CM-x and movement recordings via software oscilloscope.

• Device maintenance (firmware update, administration of parameter sets, cloning

of devices, ...).

For further information see the online help of DriveManager.

3.9.4 MotionCenter Scope

MotionCenterScope serves to monitor, record and visualize the values of arbitrary

variables in software components. These can be firmware components or application

programs (TeachTalk- or IEC-applications). Unlike the debugger, it does not require

the program sequence to be interrupted. Tables, diagrams and 3D-views enable vi-

sualization of the recorded variable values.

The tool has the following properties:

• Variables and arrays in firmware components and teachtalk- and/or IECpro-

grams can be recorded. The variables must be registered with the sampler.

• Variables can be activated or deactivated from scope. Only activated variables

are recorded.

• Events can be used to notify a specific status in the target program.

• Related events can be grouped into classes. Every event is part of a class.

• The actual recording start can be determined via a trigger. The trigger can refer

to a variables’ value and/or a specific event. Pre- as well as posttriggering is pos-

sible.

• Representation of the collected data in different diagrams and views: variable

monitor, event monitor, X-t chart, X-Y chart, 3D-view.

Information

Program execution may be slightly delayed while recording with data with

MotionCenter Scope.

For further information see the online help of MotionCenter Scope.

3.10 Libraries and interfaces

The software interfaces which are available in this system are described in more de-

tail in the following chapters.

3.10.1 IEC standard libraries

The following standard libraries are available in MotionCenter:

• IEC61131-3 standard libraries

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System overview

• Access to system functions

• Access to message system

• Diagnosis functions

For further information see the online help of MotionCenter.

3.10.2 MotionCenter libraries

With the specific libraries the following functions are available amongst other:

• Function blocks for accessing the message system and controller variables

• Function blocks for bus communication

• Function blocks for diagnosis

• Function blocks for integration of drives

For further information see the online help of MotionCenter.

3.10.3 OPC UA interface

The MotionOne 3 system offers the opportunity to access to IEC variables of the con-

trol via an OPC UA interface. Therefore an OPC UA client which must be installed on

a PC is needed. OPC UA clients are offered for download in the internet.

To establish a connection with the OPC UA client to the OPC Ua server on the con-

trol the IP address or the hostname of the control with the port number 4842 first

have to be input into the client. If a server has been found the endpoint "None -

None" mus be selected. Then the connection to the server can be established and

the data available on the OPC UA server (variables, functions, ...) are shown. For a

detailled description see the help of the OPC UA client.

The server/endpoint URLs delivered of the OPC UA server always contain the host-

name. For this reason it must be possible for the OPC UA client to solve the host-

name. Some OPC UA clients do not offer his functionality. If this is not the case the

control must be inserted manually into the file C:\Windows\System32\drivers

\etc\hosts on the PC. Therefore a new line with the IP address and the hostname

must be added in this file (e.g. 10.150.48.40<Hostname der

Steuerung>).

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Korber Solutions LTI MOTION MotionOne 3 System Manual

Brand: Korber Solutions

Model: LTI MOTION MotionOne 3

Type: System Manual

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Korber Solutions LTI MOTION MotionOne 3 System Manual

Korber Solutions LTI MOTION MotionOne 3 System Manual

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