machine control AG zub zub machine control AG Buzibachstrasse 31, CH-6023 Rothenburg · Switzerland Phone +41 41 54150-40 · Fax +41 41 54150-49 [email protected] · www.zub.ch We get your projects moving! Motion Control Solutions for modern machines and devices
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Motion Control Solutions for modern machines and devices · Control of automated pipette systems Medical technology Analysis equipment and laboratory handling Pipetting and dosing
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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 "]
*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.
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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 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
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