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STOBER

8 | Commissioning

05/2018 | ID 442461.04

47

8.1.4.5

Limiting the axis

The tasks of a controller include setting axis limits and monitoring them. The reference values
necessary for this are parameterized in the controller and transmitted to the individual drive
controllers. Note that, for this reason, the reference values of the controller are not negatively
affected by the individually configured values on the drive controller side.

Limiting the position (optional)

1. Highlight the relevant drive controller in the project tree and click on the first projected axis

in the project menu > 

Wizard

 area.

2. Select the 

Axis model

 wizard > 

Limitation of position

.

3. If necessary, limit the position of your axis using a software or hardware limit switch to

secure the travel range.

Limiting velocity, acceleration, jerk (optional)

The specified default values are designed for slow velocities without gear units. For this reason,
adapt the saved values.

Note that the velocity of the motor is parameterized in units other than that of the axis model.
Therefore check the velocity of the motor against the velocity of the output.

1. Select the 

Motor

 wizard.

2. To determine the maximum velocity at the output, copy the value of the B13 Nominal motor

speed parameter to the clipboard.

3. Select the 

Axis model

 wizard > 

Scaling axis

 > 

Conversion of positions, velocities,

accelerations, torque/force

 area.

4.

Velocity

 line: 

Paste the copied value of the B13 parameter from the clipboard and confirm with 

ENTER

.

5. Select the 

Axis model

 wizard > 

Limitation of velocity, acceleration, jerk

.

6. I10 Maximal speed: 

The specified velocity is in relation to 3000 rpm. Change this if necessary.

7. Determine the limiting values for acceleration and jerk if necessary and enter them into the

associated parameters.

Limiting torque/force (optional)

The specified default values take into account the rated operation together with the overload
reserves.

1. Select the 

Axis model

 wizard > 

Limitation of torque/force

.

2. If the motor force must be limited, adapt the saved values.

Summary of Contents for MC6

Page 1: ...Motion Controller MC6 Manual en US 05 2018 ID 442461 04 stober com ...

Page 2: ...rface 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 versio...

Page 3: ...ning 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 5...

Page 4: ...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 Appe...

Page 5: ...sed 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 Automatio...

Page 6: ...ter 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 i...

Page 7: ...lly 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 ...

Page 8: ...es 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...

Page 9: ...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 1 4 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 ...

Page 10: ...ntrolSuite 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 5 6 Fig 2 DriveControlSuite Program interface 1 Project tree 2 Project menu 3 Workspace 4 Parameter view 5 Plausibility view 6 Output view ...

Page 11: ...omation 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...

Page 12: ...nal 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 ...

Page 13: ... 04 13 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 ...

Page 14: ... example shows one of the possible system environments for interaction between the MC6 and the SI6 drive controller 5 4 3 2 1 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 con...

Page 15: ...lowing 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 store...

Page 16: ...ing 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 ...

Page 17: ...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 ...

Page 18: ...eration 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 ...

Page 19: ... 04 19 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 2 3 1 Fig 7 Graphic type overview 1 Software version 2 Design 3 Hardware version ...

Page 20: ...roller 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 1...

Page 21: ...otion controller HW 1 with software version 3 5 11 50 Control SoftMotion CNC Robotics Target Visu Web Visu MC6D05NT MC6 Core i3 dual core motion controller HW 5 with software version 3 5 11 50 Control Target Visu MC6D05ST MC6 Core i3 dual core motion controller HW 5 with software version 3 5 11 50 Control SoftMotion Target Visu MC6D05CT MC6 Core i3 dual core motion controller HW 5 with software ve...

Page 22: ...core motion controller HW 1 with software version 3 5 11 50 Control SoftMotion Target Visu MC6D21CT MC6 Atom dual core motion controller HW 1 with software version 3 5 11 50 Control SoftMotion CNC Robotics Target Visu MC6D21CA MC6 Atom dual core motion controller HW 1 with software version 3 5 11 50 Control SoftMotion CNC Robotics Target Visu Web Visu Tab 8 MC6 software version D 8 4 touch panel ...

Page 23: ...5NT MC6 Core i3 dual core motion controller HW 5 with software version 3 5 11 50 Control Target Visu MC6D15ST MC6 Core i3 dual core motion controller HW 5 with software version 3 5 11 50 Control SoftMotion Target Visu MC6D15CT MC6 Core i3 dual core motion controller HW 5 with software version 3 5 11 50 Control SoftMotion CNC Robotics Target Visu MC6D15CA MC6 Core i3 dual core motion controller HW ...

Page 24: ...license and also enables motion programming with PLCopen compliant blocks The integrated disk cam editor can be used online in the target system and or offline in the programming system Cams can be directly connected to cam disks In addition any number of couplings is possible between virtual and real axes using a cam disk or electronic gear unit This license also supports a cam disk change on the...

Page 25: ...ualization editor or reuse completed human machine interfaces as individualized visualization elements Complex visualization elements can be instantiated using an interface for transferring parameters Visualization is possible in multiple languages thanks to an integrated text list editor The Target Visu license can be attached to the integrated touch panel or an optionally connected DVI monitor f...

Page 26: ... W Front connections Realtek RTL8111 Ethernet controller 10 100 1000 Mbps Single chip fast Ethernet DM9102D controller 10 100 Mbps 3 USB 2 0 interfaces type A 480 Mbps with 500 mA current carrying capacity per output Reset button and power LED Serial RS 232 interface RTS CTS only D sub connector 9 pin CANopen interface D sub connector 9 pin 2 freely programmable front panel LEDs Protection class I...

Page 27: ... D sub connector 9 pin or CANopen DVI monitor connection Protection class IP20 Other CODESYS IEC61131 3 runtime for SoftMotion CNC environment note the functional differences between the software licenses Windows Embedded 7 operating system Real time clock with battery backup internal watchdog Tab 11 Device features for MC6 hardware version 5 core i3 Dual Core Feature Version with 8 4 touch panel ...

Page 28: ...on colors 700 1 typical contrast rate 480 1 minimum 450 cd m brightness typical 160 horizontal and 160 vertical viewing angle 50 000 h MTBF Touch panel Resistive 4 wire touch panel IP65 protection class Tab 13 Additional device features for design with 15 touch panel 5 2 Weight Type Total weight kg MC6x01 0 8 MC6x11 4 8 MC6x05 1 95 MC6x15 5 95 MC6x21 1 78 Tab 14 Total weight of the individual MC6 ...

Page 29: ...9 5 3 Dimensions 112 111 66 Fig 8 MC6x01 dimensions hardware version 1 as control cabinet PC 382 105 306 Fig 9 MC6x11 dimensions hardware version 1 with 15 touch panel 256 4 189 4 66 Fig 10 MC6x21 dimensions hardware version 1 with 8 4 touch panel ...

Page 30: ...05 dimensions hardware version 5 as control cabinet PC 382 135 306 Fig 12 MC6x15 dimensions hardware version 5 with 15 touch panel Type Height mm Width mm Depth mm MC6x01 111 66 112 MC6x11 306 382 105 MC6x21 189 4 256 4 66 MC6x05 171 230 96 MC6x15 306 382 135 Tab 15 MC6 dimensions mm ...

Page 31: ...e requirements for a fire enclosure in accordance with DIN EN 60950 1 in all possible installation positions Install the device only above nonflammable material CAUTION Device damage Overheating inside the device leads to device damage Operate the device within the specified operating conditions Make sure the ventilation openings are not covered Storage and operating conditions Operating temperatu...

Page 32: ...enings are at the top and bottom and the heat sink ribs are aligned vertically If this installation position is not possible be sure to provide adequate ventilation Make sure the ventilation slots and heat sink are not covered Make sure that no flammable materials are in the vicinity of the device 6 1 Permitted installation positions In relation to the flow of cooling air the following installatio...

Page 33: ...4 33 Fig 15 Installation positions for MC6x11 hardware version 1 with 15 touch panel Fig 16 Installation positions for MC6x21 hardware version 1 with 8 touch panel Fig 17 Installation positions for MC6x15 hardware version 5 with 15 touch panel ...

Page 34: ...on controller is mounted on a rail in accordance with DIN EN 60715 TH35 Fig 18 Top hat rail mounting of a MC6x01 MC6x05 Due to its size the MC6x05 motion controller is not suitable for top hat rail mounting Observe the following dimensions for installation 218 0 118 0 26 4 Fig 19 Drilling diagram all dimensions in mm ...

Page 35: ...rocedure 1 First drill the holes as shown in the drilling diagram The drilling diagram is valid for all 15 touch panel variants 2 Then cut out the cutout 362 286 mm 290 1 222 6 145 67 5 274 6 193 1 91 5 91 5 173 1 ø 6 274 6 366 1 15 8 8 8 9 9 12 9 10 ø 6 10 1 8 Fig 20 Drilling diagram for 15 touch panel front view of device all dimensions in mm ...

Page 36: ...rve the following procedure 1 First drill the holes as shown in the drilling diagram The drilling diagram is valid for all 8 4 touch panel variants 2 Then cut out the cutout 232 4 164 1 mm 256 4 8 8 189 4 8 8 232 4 164 1 8 4 13 3 12 12 12 ø 5 Fig 21 Drilling diagram for 8 4 touch panel front view of device all dimensions in mm ...

Page 37: ...Note that connection work is permitted only when the device is de energized 7 1 Overview Hardware version 1 2 USB 1 3 2 1 DVI 5 24 VDC 7 Serial 8 CAN 6 Reset Power 3 Ethernet 4 S0 S1 Fig 22 Connection overview using the example of the MC6x01 1 DVI 5 External 24 VDC power supply 2 3 USB 6 Power LED reset button 3 2 Ethernet Ethernet and EtherCAT 7 Serial RS 232 4 2 status LEDs CANopen 8 CAN ...

Page 38: ...l 1 5 24 VDC 6 2 3 1 8 CAN 2 9 CAN 1 Serial 2 10 LED CAN 1 LED CAN 2 RST HD PWR PWR 7 CFast Fig 23 Connection overview using the example of the MC6x05 1 Serial 1 6 Power LED reset button 2 2 Ethernet 7 CFast card 3 4 USB 8 CAN 2 4 DVI 9 CAN 1 Serial 2 5 External 24 VDC power supply 10 4 status LEDs CANopen ...

Page 39: ...itional input 2 S is the sense input for an optional system to monitor the supply voltage directly on the device Do not connect this input if the monitoring system is not being used If the power LED does not light up when voltage is applied check the power supply for polarity reversal The connector is included in the delivery Pin Description 1 12 30 VDC 2 Sense 3 GND Tab 17 Connection description ...

Page 40: ...XT External power supply Tab 19 Connection description for CANopen interface on the MC6 7 6 Ethernet Interface 0 Ethernet At this interface establish the connection to the programming PC or other TCP IP network nodes in the system Interface 1 EtherCAT This interface serves as a synchronous automation bus for triggering drives and inputs outputs 7 7 DVI The DVI D monitor connection is a digital mon...

Page 41: ...oning is divided into the following steps 1 DS6 DriveControlSuite Configure all of the drive controllers i e application type device control systems process data for the fieldbus communication mechanical drive model in DriveControlSuite Depending on the selected application CiA 402 or CiA 402 HiRes Motion scale your axis models on the drive controller side or the controller side In both cases tran...

Page 42: ... opens and the Drive controller button is active Projecting the drive controller 1 Properties tab Establish the relationship between your circuit diagram and the drive controller to be projected in DriveControlSuite Reference Specify the reference code equipment code of the drive controller Designation Give the drive controller a unique name Version Version your project configuration Description I...

Page 43: ...axis If you are working with motors from third part suppliers enter the accompanying motor data at a later time 5 Repeat steps 2 4 for the 2nd axis only for double axis controllers 6 Confirm with OK 8 1 2 Parameterizing general EtherCAT settings 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the EtherCAT ...

Page 44: ...l EtherCAT settings 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the EtherCAT wizard Received process data RxPDO 3 Check the default settings and or configure the process data according to your requirements A225 0 A225 23 A226 0 A226 23 Parameters whose values are received by the drive controller from t...

Page 45: ...g brake By projecting the corresponding motor limit values for currents and torques as well as associated temperature data are automatically transferred to the respective parameters of the individual wizards At the same time all additional data on the energy supply holding brake and encoder is transferred 8 1 4 2 Defining the axis model 1 Highlight the relevant drive controller in the project tree...

Page 46: ...of measure 7 A571 Polarity Specify the polarity of the axis model 8 A568 Position range limit only for endless travel range I00 1 Specify the revolution length of the axis 8 1 4 4 CiA 402 Scaling an axis ü You have projected the incremental version of the CiA 402 application Scale the axis in the controller software and as described below specify only the increments per motor revolution in DriveCo...

Page 47: ...s reason adapt the saved values Note that the velocity of the motor is parameterized in units other than that of the axis model Therefore check the velocity of the motor against the velocity of the output 1 Select the Motor wizard 2 To determine the maximum velocity at the output copy the value of the B13 Nominal motor speed parameter to the clipboard 3 Select the Axis model wizard Scaling axis Co...

Page 48: ... the network Transmitting a project configuration ü The drive controllers are ready for operation 1 Highlight the module under which you recorded your drive controller in the project tree and click on Connection and assignment in the project menu ð The Setting up a connection window opens 2 Direct connection tab IP address column Mark the drive controllers in question or activate all listed using ...

Page 49: ... in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the Save values wizard Action management area and click on Save values 3 Since the configuration only takes effect after restarting the drive controller select the Restart wizard Action management area and click on Restart ð The project configuration is saved ...

Page 50: ...n the following chapters in the specified order 8 2 1 Creating a standard project 1 Start the AS6 development environment 2 Select Basic Operations New Project ð The New Project dialog box opens 3 Select the standard MC6 project that corresponds to your hardware version Give it a name and save it wherever you want ð AutomationControlSuite opens and the Devices view is active 8 2 2 Adding a drive c...

Page 51: ...c device configuration views option and confirm with OK 4 On the EtherCAT_Master tab change to the EtherCAT Parameters vertical tab that is now visible 5 Navigate to the FrameAtTaskStart parameter and set the Value of the parameter to True ð From now on controller data transmission will take place at the start of the task 6 In the device tree double click on the first of the added drive controller...

Page 52: ... drive controller is enabled by default for the CiA 402 Controller Based and Controller Based HiRes Motion applications In order to prevent the drive controller from transitioning into the excessive reference value jump state parameterize ramp that can realistically be implemented 5 Dynamic limits optional If you are using CNC or robotic functions parameterize the associated limit values for veloc...

Page 53: ...in the MC6 motion controller 4 Configured EoE during the compile Both configuration options must be enabled 5 In order to configure the EtherCAT slaves select the menu Build Build Note that the EoE configuration tap remains opened during compiling ð EoE slave configuration The MAC address IP address subnet mask and the address of the default gateway are transferred to the individual slaves automat...

Page 54: ...d confirm with OK ð The selected MC6 motion controller is active 8 2 7 Transmitting a project configuration Transfer the entire project configuration to the motion controller 1 In the device tree navigate to Device STOEBER MC6 AS6 and double click to open it ð Device tab Communication Settings opens If you want to disable searching for a DHCP server on the network when starting the motion controll...

Page 55: ... to the PDO transmission ü Are you working with a controller based operating mode SoftMotion and need expanded PDO transmission Proceed as described in the following steps Note that you can transmit a maximum of 24 CiA objects or drive controller parameters per channel 1 In the device tree navigate to the drive controller whose PDO transmission you would like to expand and double click to open it ...

Page 56: ... D3FF hex Also select the data type that matches the data type of the drive controller parameter and confirm with OK ð The selected CiA object or the specified drive controller parameter has been added to the PDO content of the selected channel 8 Repeat steps 6 7 for all other CiA objects for which you would like to extend PDO transmission for the selected channel 9 Switch to the associated DriveC...

Page 57: ...ave the option of storing up to two manually created backups independent from that These backups are started by BatchFile For this it is necessary to stop the RTE Starting from the MC6D version licenses are no longer on the motion controller itself instead they have been transferred to a USB dongle This has multiple advantages 1 With series machines an MC6 can also be backed up on an MC6 of the sa...

Page 58: ...status LEDs with different functions LED Description Power Indicates the supply voltage HD Indicates activity of the hard drive HDD 2xLED CAN 1 Indicate the CANopen status or visualize the individual program states see chapter 8 6 Activation of status LEDs 2xLED CAN2 9 4 Maintenance DANGER Risk of explosion The device is equipped with a lithium battery If it is replaced by the wrong type of batter...

Page 59: ...tent Upon request you will receive an example project from STOBER that demonstrates exactly how it functions 10 1 2 Resolution of the monitor display The resolution of the touch panel is set optimally in the MC6x1 and MC6x2 versions Touch panels from third party manufacturers may need the resolution to be adjusted You can get to the display menu by right clicking on the desktop Under the Display P...

Page 60: ... writes to the memory device independently at intervals of a few seconds This means there is a high probability damage will be caused when the device is switched off while software is running However various measures have been taken to minimize the occurrence of such conditions EWF Manager The standard measure for protecting an application in a NTFS based Windows file system is the Enhanced Write ...

Page 61: ...o be introduced After a system is started the consistency of the file system is automatically checked before the CODESYS runtime environment is started This is done in read only mode which reduces the time needed for the check to a minimum If the file system is damaged a repair is automatically initiated This measure may take a few seconds as it requires leaving read only mode Partition C is prote...

Page 62: ...erface positions Increments User units e g mm or Interface velocities Increments s User units e g mm s or s Modulo management In the motion controller In the drive controller Axis model In the motion controller In the drive controller Multi turn absolute encoder for modulo axes Currently not supported Supported Scope in the drive controller and in AS6 with the same units Technically impossible Sup...

Page 63: ...it output revolution no gear units present One gear unit output revolution corresponds to 360 user units in AutomationControlSuite 10 2 1 2 Settings in DriveControlSuite The following table explains the differences in the settings that must be configured in DriveControlSuite for the respective driver Both cases involve a rotary axis with a revolution length of 360 Increments HiRes I00 Position ran...

Page 64: ...ger event In the case of adjustment using a SyncManager event the EtherCAT slaves synchronize using incoming data as the event I O I O I O I I I Master task Slave task Output waiting Output waiting TMaster cycle time TMaster cycle time Time TPLL phase offset TPLL phase offset TSlave cycle time Fig 24 SM Sync Synchronization using SyncManager event The following times are significant for SM Sync Ma...

Page 65: ...ied intervals the EtherCAT master sends a frame into which the reference slave enters its current time All other slaves as well as the master read out this time from the circulating frame Because each slave experiences a certain delay when reading in the reference time due to the transmission path the respective run times between the reference clock and the slave clocks must be taken into account ...

Page 66: ...e Specifies the time span between the release of the process data from the master and the Sync0 signal of the slaves for the entire network simultaneously Master Shift Time is parameterized on the master s end Master Shift Time is referred to as Sync Offset in STOBER AS6 AutomationControlSuite and as Sync Shift Time in Beckhoff TwinCAT Slave Shift Time Specifies the time span between the release o...

Page 67: ...k to open it 2 Distributed Clock Select DC The list entry DC enabled multiplier 1 must be selected Sync0 The option Enable Sync0 must be activated Cycle Time Sync Offset Make sure that the default settings match the corresponding values of A291 Cycle time control and A293 PLL gain in DriveControlSuite 3 If you would like to change the default settings activate the option Additional Enable Expert S...

Page 68: ... certain time period based on the Sync0 signal ü You are in DS6 DriveControlSuite 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the EtherCAT wizard Diagnostics ð A261 0 3 shows the state of the EtherCAT synchronization 3 A261 0 Specifies the number of the error code 4 A261 1 Specifies the time difference...

Page 69: ...s to better synchronization between the MC6 and the drives 10 2 2 5 EtherCAT synchronization parameterization examples EtherCAT cycle time 4 ms drive controller cycle time 1 ms Example 1 Master shift time 800 μs 20 of 4 ms Slave shift time 400 μs PLL phase offset 200 μs Example 2 Master shift time 800 μs 20 default Slave shift time 0 μs default PLL phase offset 100 μs 10 2 3 Persistent variables A...

Page 70: ...the MC6 motion controller with a drive controller of the SD6 series you can evaluate an encoder simulation on the SD6 interface X120 in the MC6 as SoftMotion encoder Note that interface X120 on the SD6 is available only if terminal module XI6 is installed The SoftMotion encoder can be used as a master encoder for example It is used in the AS6 project similarly to an Ax_Ref of a SoftMotion axis If ...

Page 71: ...ller through AutomationControlSuite after a restart Two batch files are stored on the desktop of the target system and enable you to change easily between the DHCP server and a fixed IP address The batch files contain the Commit and Restart command required for this The configuration can be individually adjusted Find out IP addresses for TCP IP and VNC AS6 An MC6 connection is possible by using Br...

Page 72: ...missioning PC This is available for both x86 and x64 systems The connection is password protected The password is stoeber Change this preset password to prevent a security gap in the system Information Note that you can use the name as well as the existing IP address of the MC6 to establish the connection Information This connection cannot be used as is for remote maintenance For this purpose usin...

Page 73: ...l changes will be lost after a restart This does not apply to user programs that are written to the MC6 using AutomationControlSuite The batch files needed for Commit and Restart are located on the desktop of the MC6 in the Batch Files folder ATTENTION Material damage If you disconnect the MC6 from the 24 VDC power supply while the Commit and Restart command is running this can cause damage to the...

Page 74: ...ttps store codesys com codesys safety for ethercat safety module html Information Please note that using the TwinSAFE PLC EL6900 means additional license costs will be incurred per machine 10 2 8 Device description file for the MC6 To use the MC6 motion controller as a SoftMotion controller in combination with the AS6 AutomationControlSuite you need a device description file Device description fil...

Page 75: ...otion CNC model tripod Includes how to activate a tripod robot using variable G code 6 Drive Motion CNC template Includes how to handle CNC G code and activate 3 axis kinematics 7 Drive Motion electronic CAM Includes how to use electronic cam disks and their change at run time 8 Drive Motion GearInPos Includes synchronous position coupling to a master axis 9 SD6 SetControllerMode example Includes ...

Page 76: ...nfiguration storage installation connection commissioning operation service diagnostics 442728 Multi axis drive system with SI6 and PS6 Commissioning instructions System setup technical data storage installation connection commissioning 442731 SD6 drive controllers Manual System setup technical data project configuration storage installation connection commissioning operation service diagnostics 4...

Page 77: ...round HMI Human Machine Interface I O Input Output IP Internet Protocol OPC Open Platform Communications PDO Process Data Objects RxD Received data RxPDO Received PDO SDO Service Data Object SELV Safety Extra Low Voltage SYNC Synchronization TCP Transmission Control Protocol TP Twisted Pair TxD Transmitted data TxPDO Transmitted PDO UDP User Datagram Protocol USB Universal Serial Bus UPS Uninterru...

Page 78: ...hour service hotline Phone 49 7231 582 3000 Our address STÖBER ANTRIEBSTECHNIK GmbH Co KG Kieselbronner Strasse 12 75177 Pforzheim Germany 12 2 Your opinion is important to us We created this documentation to the best of our knowledge with the goal of helping you build and expand your expertise productively and efficiently with our products Your suggestions opinions wishes and constructive critici...

Page 79: ...BER SWITZERLAND www stoeber ch Phone 41 56 496 96 50 sales stoeber ch STOBER FRANCE www stober fr Phone 33 4 78 98 91 80 sales stober fr STOBER TAIWAN www stober tw Phone 886 4 2358 6089 sales stober tw STOBER ITALY www stober it Phone 39 02 93909570 sales stober it STOBER TURKEY www stober com Phone 90 212 338 8014 sales turkey stober com STOBER JAPAN www stober co jp Phone 81 3 5395 678 8 sales ...

Page 80: ...ions for MC6x01 hardware version 1 as control cabinet PC 32 Fig 14 Installation positions for MC6x05 hardware version 5 as control cabinet PC 32 Fig 15 Installation positions for MC6x11 hardware version 1 with 15 touch panel 33 Fig 16 Installation positions for MC6x21 hardware version 1 with 8 touch panel 33 Fig 17 Installation positions for MC6x15 hardware version 5 with 15 touch panel 33 Fig 18 ...

Page 81: ... 9 MC6 software version D 15 touch panel 23 Tab 10 Device features for MC6 hardware version 1 Atom Dual Core 26 Tab 11 Device features for MC6 hardware version 5 core i3 Dual Core 27 Tab 12 Additional device features for design with 8 4 touch panel 27 Tab 13 Additional device features for design with 15 touch panel 28 Tab 14 Total weight of the individual MC6 variants 28 Tab 15 MC6 dimensions mm 3...

Page 82: ...STÖBER ANTRIEBSTECHNIK GmbH Co KG Kieselbronner Str 12 75177 Pforzheim Germany Tel 49 7231 582 0 mail stoeber de www stober com Service Hotline 49 7231 582 3000 Technische Änderungen vorbehalten Errors and changes excepted ...

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