machine control AGzub

zub machine control AG

Buzibachstrasse 31, CH-6023 Rothenburg · Switzerland

Phone +41 41 54150-40 · Fax +41 41 54150-49

info@zub.ch · www.zub.ch

We get your projects moving!

Motion Control Solutionsfor modern machines and devices

2

Application range

Matrix switch, FERAG AG

Labeling machine

Flying Saw

Adhesive dispensing

Positioning Low cost mechanical stop adjustment

X/Y/Z-positioning of probes

Work-piece and tool positioning in machines

High precision, slip-free positioning of measuring heads by parallel signal processing of encodersand glass scales

Synchronous Feeding Synchronous feeding of components

(e.g. supplements, CDs, labels)

Position synchronization using marker correction, jerk limitation, and signal fi ltering

Labeling Synchronization of label ejection and goods

Synchronous feeding with marker correction and online CAM profi ling

Sawing Shaping products in a running process fl ow

Flying saw with on-the-fl y product lengthadjustment by online CAM profi le calculation

Path Control Recording of seam geometries for the automated

application of adhesives with portal robots

Casting and foam application

Engraving and milling

Application of adhesives and sealants

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Conveyor

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Application range

Commissioning, APOSTORE GmbH

Milling machine

Rewinder

Metering machine

Multichannel pipette

Storage / Commissioning Cart positioning in high-bay warehouses

or storage systems (e.g. pharmacies)

Positioning with on-the-fly target adaptation

Jerk-limited acceleration and braking ramps

Measuring machines Highly-accurate position recording in tool testing

devices

Absolute precision in the micrometre range

Fast and efficient data recording of tool positions

Winding Electronic servo traversing gear: synchronization

of the traverse with the speed of material

Automatic tension control

Dosing High-precision flow control of pumps

Flow rate and dose control of analytic and infusion pumps

Control of automated pipette systems

Medical technology Analysis equipment and laboratory handling

Pipetting and dosing

Laboratory automation

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Free programmability Standard protocols and free programmability

Integrated development tools Tools for start-up, PID optimizing, and debugging are integrated.

Application library Readymade standard solutions for various machine types.

Motion Control Library Licence free Motion Control Library for integration on single and multi-processor embedded systems:

– Hardware: PC, 16-/32-Bit µC, DSP

– Multi-processor support

– Support of various operating systems, but also usable without operating system

– Motor technologies: Servo, stepper and asynchronous motors

– Interrupt sources: I/O, bus, timer, position, error

– Supported interfaces: CAN, USB, EtherCAT, Ethernet, RS232, RS485

Motion Control features Positioning Synchronization (Speed ~, Position ~, Marker ~) CAM profiling Jerk limitation Current control, torque control Path control

Interactive graphic editors CAM, Array, and Path-Editor

Debugging & Optimization Smart-Oscilloscope and integrated graphic CAM-Editor

State-Machine Support APOSS® supports the automatic execution of hierarchic State Machines.

Graphic editors, for example APOSS-Path-Editor: This user-friendly continuous-path control system automatically calculates the best possible curve progression through spline interpolation, taking into account the optimum acceleration and speed.

zub StandardsIndustry-tested hardware modules, APOSS®-win comprehensive automation software and application-specific special functions.

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Engineering ServicesThe development of customer-specific solutions for series-production manufacturers and application development: economical and effective solutions in a very short time.

OEM solutions Cost-optimized motion control units with or without integrated power amplifiers. Offering specialized features for series applications starting at 500 pieces.

OEM solutions build on industry-tested hardware and software modules which are adapted to specific requirements.

Application development Development of customer-specific solutions, matched precisely to the application.

Project support, from the preliminary study through to the finished application solution, including commissioning.

Hardware designs Exclusive customer-specific hardware designs; if appli-cable, expansion of the extensive basic functionality.

Fast prototyping This is made possible through the use of existing components, thus also reducing development time and development risk.

Services Every phase of your development project – from the preliminary study through to series production – is supported by experienced software and hardware developers. Short decision-making processes, speed and flexibility.

The first tests are possible within just a few days.

Example: A company was no longer able to construct its own positioning control system because compo-nents were no longer available. Developing a new control system was not economically justifiable, but on the other hand existing plants had to be retrofitted with such control systems or defective ones needed to be replaced.

On the basis of a MACS5 it was possible to produce a functional model within two days, in order to show that the required task can be realized in this way.

After a successful demonstration zub realized a complete solution within two weeks.

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Programmability Yes, development tool included

Motion Control Library Integrated, licence free

Modes of operation Standalone control (possible without PLC/PC)CANopen slave or masterEtherCAT slave and EtherCAT master

Motion Control features PositioningSynchronizationCAM profi ling

Positioning control cycle 10 kHz, from 100 µs cycle time; confi gurable

PLC or PC networking EtherCAT, CAN,Ethernet, USB, RS232, RS485

Plug & Play functions DS402 slave / master

Supply voltages 24 V

Servo / FC control CAN, EtherCATOptional: ±10 V via EtherCAT terminals

Feedback input 1 (incremental, differential)

Digital I/O 6/4, bus, and via EtherCAT or CAN terminals

Interfaces USB, Ethernet, 2 x CAN, RS232, RS485,EtherCAT slave and EtherCAT master

Housing / Connector type DIN rail module / Tension spring clamp

From series requirement of 500 pieces onwards

Specifi c interfaces (Profi net, Profi bus, Powerlink) and connector types on request.

EtherCAT-Drive: Master-MACSHigh-performance motion control module for controlling intelligent drives and for the synchronization of numerous axes.

Servo motor Brushless DC motor Asynchronous motor

Servo amplifi er

Frequency converter

EtherCAT drive Master-MACS

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MACS51 to 6 axes motion control unit, standalone or usable with PLC/PCfor servo amplifi ers and frequency converters

Programmability Yes, development tool included

Motion Control Library Integrated, licence free

Modes of operation Standalone control (possible without PLC/PC)CANopen slave or masterOptional: EtherCAT slave and EtherCAT master

Motion Control features Positioning, Synchronization, CAM profi ling

Positioning control cycle 1 kHz, 1 ms cycle time; faster if using less than 6 axes

PLC or PC networking EtherCAT, CAN, Ethernet, USB, RS232

Plug & Play functions DS402 slave / master

Supply voltages 24 V

Servo / FC control CAN, EtherCAT; optional: ±10 V [see "]

Feedback inputs 6 (incremental, SinCos, SSI) [see §]

Digital and analog I/O Digital: 16/8Analog: 6/0 (alternative optional 1/3)

Interfaces USB, Ethernet, 2 x CAN, RS232Optional: EtherCAT slave and master [see !]

Housing DIN rail module

Connector type Tension spring clamp

From series requirement of 500 pieces onwards

Specifi c interfaces (Profi net, Profi bus, Powerlink) and connector types on request..

Data acquisitionData processingData visualization

Servo amplifiersFrequency converters

Drives & Encoders

Sensors / Actuator links

PLC

Ethernet TCP/IP

Motion Control Module with integrated amplifiers

Motion ControlModules

Eth

erC

AT

EtherCAT

Position encoder signalsPosition encoder signals

MACS5

Power

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off

MACS5 EtherCAT Slave

MACS5-AMP

*1)

*2)

*1) MACS5 and MACS5-AMP are EtherCAT slaves of PLC, alternative interfaces are CAN, Ethernet, Powerlink, USB.*2) MACS5 is EtherCAT master of drives and I/O, alternative interfaces are CANopen or ±10V*3) Up to 6 x brush-type or 4 x brushless motors per each MACS5-AMP

±10 VCANopenEtherCAT

Power

*3)

unload the PLC, maximize functionality, and reduce costs!

Motion Control Module with integrated amplifi ers

Data acquisitionData processingData visualization

Servo amplifi ers Frequency converters

Drives & Encoders

Sensors / Actuator links

Position encoder signals

MACS5 EtherCAT-Slave

Position encoder signals

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MACS5-AMP1 and high power MACS5-AMP26-axis motion control unit with integrated amplifi ers for brush-type and brushless motors

Programmability Yes, development tool included

Motion Control library Integrated, licence free

Modes of operation Standalone control (possible without PLC/PC)CANopen slave or masterOptional: EtherCAT slave and EtherCAT master

Motion control features PositioningSynchronizationCAM profi ling

Positioning control cycle 1 kHz, 1 ms cycle time; PID control plus feed forward

PLC or PC networking EtherCAT, CAN, Ethernet, USB, RS232

Plug & Play functions DS402 slave / master

Supply voltages 24 V, 12-48 V

Integrated amplifi ers 6 x DC or 4 x EC or 3 stepper or mixed operation

Amplifi er Icont / Ipeak MACS5-AMP1 = 6 x 2 A/10 A

MACS5-AMP2 = 8 x 30 A/10 A

Servo / FC control CAN, EtherCATOptional: ±10 V

Feedback inputs 6 (incremental, SinCos, SSI)

Digital and analog I/O Digital: 16/8Analog: 6/0 (alternative optional 1/3)

Interfaces USB, Ethernet, 2 x CAN, RS232Optional: EtherCAT slave and EtherCAT master

Housing DIN rail module

Connector type Tension spring clamp

From series requirement of 500 pieces onwards:

Specifi c interfaces (Profi net, Profi bus, Powerlink) and connector types on request.

9www.zub.ch

Programmability Yes, development tool included

Motion Control Library Integrated, licence free

Modes of operation Standalone control (possible without PLC/PC) CANopen slave or master Optional: EtherCAT slave and EtherCAT master

Motion Control features Positioning Synchronization CAM profiling

Positioning control cycle 1 kHz, 1 ms cycle time; PID control plus feed forward

PLC or PC networking EtherCAT, CAN, Ethernet, USB, RS232

Plug & Play functions DS402 slave / master

Supply voltages 24 V, 12-48 V

Integrated amplifiers 3 x DC or 2 x EC or 1 stepper or mixed operation

Amplifier Icont / Ipeak 3 x 4 A/8 A

Servo / FC control CAN Optional: ±10 V

Feedback inputs 6 (incremental, SinCos, SSI)

Digital I/O 16/8

Interfaces CAN master, CAN slave, USB

Housing Full metal compact module

Connector type DSUB, RJ45, Molex

From series requirement of 500 pieces onwards:

Specific interfaces (Ethernet, EtherCAT, Profibus, Profinet, Powerlink, Modbus, Sercos), connector types, and amplifier design on request.

MACS5-AMP33-axis motion control unit with integrated amplifiers for brush-type and brushless motors

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OEMCost-optimized motion control units with or without integrated power amplifiers. Offering specialized features for series applications starting at 500 pieces.

Programmability Yes, development tool included

Motion Control library Integrated, licence free

Modes of operation According to specification, e.g. – Standalone control – EtherCAT slave / master – CANopen master

Motion Control features Positioning, synchronization, CAM profiling, torque control, jerk-limited control, etc.

PLC or PC networking According to specification

Plug & play functions According to specification

Integrated amplifiers According to specification

Supply voltage 12-60 V DC, 230/400 V AC

Motor types Brush-type, brushless, stepper

Amplifier Icont / Ipeak According to specification

Feedback inputs According to specification

Servo / FC control CAN, EtherCAT, ±10 V

Digital and analog I/O According to specification

Interfaces USB, Ethernet, CAN, RS232 EtherCAT-Slave and EtherCAT-Master; plus more according to specification (e.g. Profinet, Profibus, Powerlink)

Housing / Connector types According to specification

Custom built, not just standard

Cost optimized

Compact in size

Specialized features

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Expertise & Experience

Josef Cupic, Mechanical engineer MSc

Our goal is the development of optimal drive solutions – efficient, cost-effective and sustainable.Development of software and control algorithms are my special fields. I am also pleased to answer your technical questions about Danfoss frequency converters.

Dieter Bieler, Dipl.-Math.

We are solution-oriented and maintain a cooperative relationship with our customers. Our success is driven by our application knowledge, our ability to realize customers' request, and our constant readiness to incorporate the newest technologies into innovative products.

Daniel Haslimann, Dipl-Ing.

As director of software development I am responsible for the efficiency and transparency of development and for the effective collaboration within our team and with our customers.We will gladly accompany you in every phase of a development project, from conception to production.

Matthias Kamber, Dipl-Ing.

A precise understanding of the application-specific needs of our customers is a precondition for develo-ping the applications. As an IT specialist and software engineer, I am there to provide support throughout the whole project, from the preliminary study to the finished application solution and commissioning.

Peter Kutzelmann, Elektrical engineer

As a senior hardware / software developer, I have already developed a number of zub control systems: our standard controllers as well as OEM control systems are built to suit customer specifications. My specialist areas of FPGA (Field Programmable Gate Array) and automatic control engineering provide the optimum basis for this.

Product code

No.

of a

xes

Enc

od

er 2)

Dig

ital

I/O

Ana

log

I/O Interfaces /

Mode of operation

Amplifi ers

No.

of

Supp

ly

Con

t./pe

ak

curr

ent

MACS5: Multi-axis motion control unitfor all types of servo amplifi ers and frequency converters 3)

MACS5 1 - 6 1 - 6(A, C, D, E) 16/8

6/0opt.1/3

EtherCAT slave, EtherCAT master, 2 x CAN, Ethernet,

USB, RS232

– – –

MACS5-AMP: Multi-axis motion control unit with integrated servo amplifi ersfor brush-type and brushless motors 3)

MACS5-AMP1 MACS5-AMP2

1 - 6 1 - 6(A, C, D, E) 16/8

6/0opt.1/3

EtherCAT slave, EtherCAT master, 2 x CAN, Ethernet,

USB, RS232

6 DC or

4 ECor 4)

12-48 V2/10 A

10/30 A

MACS5-AMP3: 3-axis motion control unit with servo amplifi ers for brush-type motors 3)

MACS5-AMP3 3 6(A, C, E) 8/4 –

USB, CAN-Slave/

Master

3 DCor

2 ECor 5)

14-48 V 4/8 A

MACS5-AMP3X 3 6(A, C, D, E) 8/4

6/0opt.1/3

CAN, Ethernet, USB

opt.: weitere ³)

3 DCor

2 ECor 5)

14-48 V 4/8 A

Master-MACS: EtherCAT Drive for the control of intelligent drives and synchronization of multiple axes 3)

Master-MACS 20 1) 1 (A)

20 (F)

6/4, Bus

und 7)

via termi-nals 7)

EtherCAT-Slave, EtherCAT-Master,

CAN, Ethernet, USB, RS232

– – –

DSA-E: Compact CANopen servo amplifi ersfor brush-type and brushless motors

DSA-E45DSA-E45-HC

1 1(A, B) 8/2 2/0 CANopen slave

opt. another 1 9-60 V 6)/50 A

DSA-E2 1 1(A, B) 4/1 1/0 CANopen slave

opt. another 1 10-60V 25/50A

CIO-A: Compact CANopen I/O modulesSmall housing for DIN rail mounting

CIO-A3-DIO-12-4 – – 12/4 – CANopen slave – – –CIO-A4-KIO-8-8-4 – – 8/8 4/0 CANopen slave – – –

1) Up to 20 axes, confi gurable.2) Supported encoder types: A = Incremental, B = Hall sensors, C = SinCos, D = SSI,

E = CANopen, F = Bus (EtherCAT oder CAN)3) OEM versions on request, starting at 500 pcs); brand labeling possible.4) … or 3 stepper or mixed operation5) … or 1 stepper or mixed operation6) Continuous current depends on the load and the resp. conditions of the environment.7) Via EtherCAT or CAN terminals

machine control AGzub

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