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Catalogue Motion Controller

1. Installation clearances of TLC61 IP20 dimensions in mm TLC61 P IP54 The Motion Controller in the P version IP54 must be mounted with a minimum clear ance of 10 mm from adjacent devices Installation clearances of TLC61P IP54 dimensions in mm Catalogue Motion Controller 37 TLC6 Motion Controller with drive Motion Controller Mounting and installation 38 4 x M5 TLC 632 4 6 6 x M5 TLC 638 TLC 632 TLC 634 TLC 636 TLC 638 Installation clearances of TLC63 with degree of protection IP20 dimensions in mm TLC63 eP The TLC63 P Motion Controller must be installed with a minimum clearance of 10 mm from adjacent devices IP54 A E TLC 632P 127 TA 80 mm TLC 634P 147 mm 100 mm Installation clearances of TLC63P with degree of protection IP54 dimensions in mm Catalogue Motion Controller Berger Lahr Motion Controller Berger Lahr TLC6 Motion Controller with drive Options for TLC6 P with degree of protection IP54 Integrated holding brake controller Motion Controllers with
2. TLCC TLCC RS232 ETH CANopen 0086505000007 TLCC with Profibus DP slave interfaces TLCC RS232 ETH CANopen Profibus slave 0086505000008 TLCC TLM connector set ACC3CSO0O4NNNN Scope of delivery 0086300901002 e 1 SubD adapter with CAN terminating resistor 6 plug connectors The CD ROM contains Installation files e Block libraries e Online help and documentation CD ROM with programming software 0062501102600 ACC4PACDS0001 XX Note Information about additional accessories can be found from page 64 onwards Berger Lahr Catalogue Motion Controller 13 TLM2 Multi Axis Motion Controller Motion Controller Product description 14 TLM2 Multi Axis Motion Controller The Twin Line Multi Axis Controller is a Motion Controller with an integrated very high performance software PLC The TLM2 has an web server In addition a Modbus server is integrated to facilitate connection to Magelis terminals of the XBT series from Schneider Electric via RS232 or Ethernet This very high performance multi axis con troller performs not only motion coordination but also highly synchronous motion func tions The TLM2 can control up to four drives highly synchronously via the pulse direction interface This allows even inexpensive drives such as Twin Line Lexium 05 and IclA with pulse direction inputs to be used for demanding motion profiles In addition an incremental enco
3. SMC_NCDecoder No No No No Yes SMC_ToolCorr No No No No Yes SMC_AvoidLoop Yes SMC_SmoothPath Yes SMC_RoundPath Yes SMC_CheckVelocities Yes SMC_LimitCircularVelocities Yes SMC_Interpolator Yes SMC_ShowCNCREF No No No No Yes SMC_ShowQueue No No No No Yes In addition a block library is available that makes it easier for the programmer to perform the transformation including spatial transformations and checking of the axes position position speed speed The block library contains on the one hand blocks that control the drives with nominal values simultaneously monitored the nominal values and can detect jumps On the other hand there are blocks available for mathematical forwards and backwards transformations for certain common kinematics Instances of the for wards transformation blocks can be linked with visualisation templates that are also included permitting instant and straightforward representation The following systems are supported e Portal systems Portal systems with tool offset H portal system with stationary drives 2 link SCARA systems 3 link SCARA systems Parallel kinematics Berger Lahr Catalogue Motion Controller 59 Programming Programming system Block libraries Description of the function blocks Motion Controller Single axis function blocks PLCopen blocks MC_Power MC_ReadStatus Switches the controller on or off Reads out the motion type of the axis MC_ReadAxisError
4. Drive interfaces Connection for stepper motor TLC61 or AC servomo tor TLC63 and CANopen master max 126 drives User defined inputs outputs 14 5 Programming and operating interface RS 232 Communication via OPC RS 232 Fieldbus interface optional Profibus DP slave CANopen slave Modbus RS485 Berger Lahr programming system Yes PLCopen single axis function blocks Yes PLCopen multi axis function blocks Yes NC editors No Cam profile editor Yes additional tool Catalogue Motion Controller 25 TLC6 Motion Controller with drive Product description 26 0000900000000 0000001 Motion Controller Overview of devices 1 Module slot M4 for communication for the micro modules e CAN C can be configured as CANopen DS402 or DeviceNet e IBS C Interbus e MODB C can be configured as Modbus ASCII or Modbus RTU e PBDP C Profibus DP e RS 485 2 Module slot M3 for encoder simulation for the micro modules e ESIM3 C encoder simulation prerequisite with TLC61 M2 3 equipped with micro module RM C e SAM C safety module prerequisite with TLC61 M2 3 equipped with micro module RM C 3 Module slot M2 for motor position acquisition for the micro modules e RM C with TLC61 rotation monitoring for encoder e HIFA C with TLC63 for SinCos absolute encoder e RECO C with TLC63 for resolver 12 bit 4
5. VJD TND TGS V44M Location license unlimited number of stations at a geographical location Berger Lahr VJD FND TGS V44M 1 Individual components Data transmission cable for transferring the application from the PC to the Magelis XBT control panel Catalogue Motion Controller 67 Accessories Motion Controller CAN cable Designation Description Order number Cable for programming the terminals RS232 to Magelis XBT N401 N410 R410 R411 XBTZ915 RS232 to Magelis XBT N200 N400 N401 N410 R400 XBTZ945 1 2 XBTZ945 2 2 RS232 to Magelis XBT GT1100 XBTZG915 Ethernet to Magelis XBT GT1130 2130 2230 2330 Directly connected a crossed cable must be used Ethernet to Magelis XBT GT4230 4330 4340 KSE EE Ethernet to Magelis XBT GT5230 5330 5340 6330 6340 7340 USB to Magelis XBT GT2110 2120 2220 USB cable is supplied with Vijeo Designer USB to Magelis XBT GT1130 2130 2330 USB to Magelis XBT GT4230 4330 4340 USB to Magelis XBT GT5230 5330 5340 6330 6340 7340 Cable for communication between TLCC TLM2 and terminals XBTZ915 XBTZ945 1 2 XBTZ945 2 2 XBTZG915 Is not offered Included with Vijeo Designer RS232 to Magelis XBT R400 R410 R411 Cable set for connection 86300901007 RS232 to Magelis XBT N200 N400 N401 N410 Cable set for connection 86300901008 RS232 to Magelis XBT GT1100 Cable set for connection 86300901009 RS232 to Magelis XBT GT2110 212
6. 4 4482 0 27801 N A 9 32 x Die 9 34 5 32 72 Catalogue Motion Controller Berger Lahr Berger Lahr GmbH amp Co KG Breslauer Str 7 D 77933 Lahr www berger lahr com a company Schneider Electric Berger Lahr offers you the positioning and automation solutions you need based on our technology and proven series of products Our comprehensive engineering and consulting service is ready to support and advise you every step of the way Berger Lahr is a member company of the Schneider Electric Group With its Merlin Gerlin Square D and Telemecanique brands Schneider Electric is one of the leading providers of electrical and automation engineering solutions of 26 201 GB09 07 reinisch AG TSubiect to technical chanaes Printed in Germanv
7. 19200 38400 Supply voltage output 12 9 15 V MODB C According to RS485 standard electrically isolated 4 wire interface Transmission rates kbaud 1200 2400 4800 9600 19200 Supply voltage output 12 9 15 V PBDP C Max transmission rate Supply voltage output According to RS485 standard electrically isolated 4 wire interface Mbaud 12 5 max 10 mA only for terminating resistor Max cable length to next station 400 CAN C Level according to ISO 11898 electrically isolated Max transmission rate Mbaud lt 1 adjustable Max cable length At 125 kbaud 500 e At 500 kbaud m 100 Level CAN L CAN H According to ISO 11898 Terminating resistor on both ends 120 IBS C Corresponding to Interbus specification Transfer rate kbaud 500 Max cable length to next station 400 SAM C 24 Voc supply voltage PELV DIN 19240 reverse polarity protection Input voltage range V 20 30 Input ripple Vss lt 2 Input current of the outputs without load lt 0 02 Digital signal inputs Reverse polarity protection no electrical isolation debounced e Time window for simultaneous switching of both 10 signals of a switching pair e DC voltage Uhigh e DC voltage Ujow Current at 24 V 5 kQ against GND Debounce time Digital signal outputs DC voltage e Switching current RELAY_A RELAY_B INTERLOCK OUT e Switching current SAFETY24VDC A SAFETY24VDC B Switching current AUXOUT 1
8. radiation Earthing to Option star point L Shield on Power supply USV mounting plate _ Star point System earth 4 to earting Place shield flat Keep open cable ends short Trim shield no more than 10 mm before first terminal Earth devices by surface contact to mounting plate Earth signal lines x for digital I O s on plug case EMC measures TLCC 12 Catalogue Motion Controller Berger Lahr Motion Controller TLCC Cell Controller Order data Control cabinet The size of the control cabinet must be such that all devices and components can be firmly installed in it and wired up in accordance with EMC regulations The control cabinet ventilation must be capable of evacuating the heat losses by all devices and components installed in the control cabinet Position the Motion Controller in the control cabinet so that the heated air flow from other devices e g an external ballast resistor does not result in undesirable heating of the device cooling air Install the Motion Controller vertically with the 24 Vpc connection at the top Secure the Motion Controller to a galvanized metal plate The back wall of the Motion Controller must make good contact with the metal plate over a wide area Installation clearances The ventilation openings on and underneath the device must be at least 70 mm away from adjacent devices or walls
9. 10 240 10 Number of mains phases Mains frequency Current consumption 3 Hz 63 Oo gt o N 4 7 5 20 Inrush current Fuse protection external B characteristics Motor connection A Cl CH Nominal power at nominal current 230 V 1 or 400 V 3 Nominal current rms value Nominal current amplitude value N 01 DIAS 0 75 1 5 3 8 16 rms Peak current for max 5 s Switching frequency Max speed of rotation Ame 3 PB fE As 4 24 4 24 8 48 22 63 mz ais S rom 12000 Motor cables Cable length Shield connection lt 20 standard gt 20 on request On both sides Cross section length dependent DC bus connection Internal ballast circuit mm 1 5 1 5 2 5 4 Max two devices in the same power class can be connected in parallel Sustained power Max energy per braking procedure 24 VDC system supply voltage ili 60 100 200 80 wo mm mm 130 lt S PELV DIN 19240 reverse polarity protection 20 30 Input voltage range V Input ripple Vss lt 2 Input current of the outputs without load A lt 2 5 Digital inputs Reverse polarity protection no electrical isolation Number of inputs 18 of which 14 can be used as required Debounce time ms 0 7 1 5 DC voltage Uhigh V 12 30 1 gt 3 mA DC voltage Ulow V lt 5 1 lt 0 5 mA Current mA lt 7 at 24 V Digital outputs Short circuit protected Number of ou
10. 30 1 gt 3 mA Max switching threshold high gt low lt 5 I lt 0 5 mA Current lt 7 at 24 V Digital outputs Number of outputs Short circuit protected 7 of which 5 can be used as required Inductive load capacity mH W 150 11 Max output voltage Voc 30 Max output current mA 400 Voltage drop at 400 mA Voc lt 1 analogue signal input Voltage range V 10 10 Input resistance kQ 5 Resolution bit 10 Main memory available for use by the user programme Non volatile memory for the user programme kB 256 Non volatile memory for data flash PROM kB 8 Non volatile memory for power fail data retain kB 100 Volatile memory for data kB 128 Mechanical data Weight kg 2 7 IP20 8 0 IP54 Degree of protection according to DIN EN 60529 1991 IP20 TLC6 IP54 TLC6 P Ambient conditions Ambient temperature 0 45 Transport and storage temperature 40 70 Rel humidity 15 85 no condensation permitted Installation altitude without derating m above seat lt 1000 UL 508C approval Berger Lahr Catalogue Motion Controller The limit values are listed in the device documentation 29 TLC6 Motion Controller with drive Technical data TLC63 Motion Controller with drive booster for AC synchronous servomotors Electrical data Mains connection Motion Controller H TLC632 TLC634 TLC636 TLC638 Mains voltage lt AC 230 20 230 20 480
11. 32 Inputs 6 Profibus DP interface optional 7 7 segment display 8 RS232 interface changeover programming communication 9 RS232 serial interface Interfaces CAN interface The TLCC is a CANopen master and controls a maximum of 126 slave devices RS 232 interface The RS232 interface is used for transmitting application programmes to the Motion Controller In addition the RS232 interface can be used as a communications inter face to other devices e g terminals It is possible to changeover between the two functions using a switch on the front of the Motion Controller Ethernet interface The Ethernet interface is used for remote control of the Motion Controller as well as for transmission or debugging of user programmes Amongst other functions this in cludes updating the operating system and exchanging process data with higher level host systems via OPC Profibus DP slave interface optional On request the TLCC can be equipped with a Profibus DP slave interface Inputs and Outputs The freely useable process capable 32 inputs and 16 outputs of the TLCC also con tribute to reducing the number of additional components and therefore to saving costs Catalogue Motion Controller 9 TLCC Cell Controller Technical data Electrical data Electrical power supply Motion Controller PELV power supply unit in accordance with DIN 19240 with reverse polarity pro tection Input voltage Voc 21 28 Minimu
12. MC_Reset MC_TouchProbe MC_AbortTrigger MC_ReadParameter Reads out an error message Gets the axis out of error status and acknowledges all error messages An axis position is saved on the selected trigger input edge This is a highly accurate measure ment with a time resolution of 50 Ls This function block is suitable for recording a fiducial position for example Depending on the application it is possible to calculate a position correctly from this but can then be input back into the system using the MC_Phasing function block The trigger input function MC_TouchProbe is cancelled Reads out the specified parameter MC_ReadBoolParameter MC_WriteParameter MC_WriteBoolParameter Reads out the specified parameter of the type BOOL Writes out the specified parameter Writes out the specified parameter of the type BOOL MC_ReadActualPosition MC_SetPosition Reads out the current axis position Sets the current position of the axis to the specified value without thereby triggering a move ment MC_ReadActualVelocity MC_ReadActualTorque MC_TorqueControl Reads the value of the current speed Reads the value of the current torque Controls the current torque MC_MoveAbsolute MC_MoveRelative Movement takes place to a target position at a specified speed and acceleration Motion param eters such as target position speed and acceleration can be modified in real time The axis then continu
13. Text size 4 34 x 2 96 17 36 x 11 8 mm Active display area 72x20mm Keyboard 20 12 of which can have new labels LED signalling No LED 16 LEDs 14 of which are for the central keys Max number of pages Application pages 200 e Alarm pages 256 Interfaces Serial port RS232 C RS485 RJ45 socket RS232 25 pin sub D socket RS485 Protocols Electrical power supply Printer port Front panel Back panel 64 Via the Motion Controller Pluggable terminal strip 3 screw terminals 5 08 secu connection cable ring capacity 1 5 mm No printer connection a a MiniDin Modbus master Uni Telway Modbus master Uni Telway Modbus master and slave Sysmac way Uni Telway Sysmac way IP65 Nema 4X outdoor use IP20 The terminals can be ordered from Schneider Electric and are described in the Tele mecanique catalog ZXKHMI Catalogue Motion Controller Berger Lahr Motion Controller Graphical terminals Terminal Accessories Terminals for TLCC and TLM2 Graphical terminals XBT XBT XBT XBT XBT XBT XBT GT2120 GT1100 GT1130 GT2110 GT2130 GT2220 GT2230 XBT GT1100 XBT GT2110 XBT GT2220 Screen diagonals 3 8 5 77 Resolution QVGA Display type STN amber red STN blue STN black and white STN colour TFT colour mode Number of colours 8 gray scales 16 graduations 4096 65536 Backlighting Type LEDs CFL CFL CFL e Service life 50000 h 58000 h 75000 h 50000 h Data input Matrix to
14. 100 Berger Lahr Catalogue Motion Controller 35 TLC6 Motion Controller with drive Motion Controller Mounting and installation EMC compliant installation TLC6 Motion Controllers satisfy the EMC requirements for the second environment according to IEC 61800 3 EMC installation is essential for compliance with the specified limit values Better re sults can be achieved using the following measures depending on the application e Connecting mains reactors ahead in series specifications for current harmonics are available on request e Connecting mains filter ahead in series in particular to comply with limit values for the first environment living area category C2 e Particularly EMC compliant installation e g in an enclosed control cabinet with 15 dB attenuation of the emitted radiation Grounding at With an external mains star point filter ground the mains j cable between unit and Shield on Mains filter via a cable clamp MeUAUng PIAI Flatten shielding _ Star point when connecting System ground A toearthing Keep exposed cable ends short Expose shield no more than 10 mm from first cable clamp Ground signal lines via plug housing Mains filter units Ground encoder cable without LI at control cabinet input internal filter only Ground unit by large area contact with mounting plate Ground motor with grou
15. 102 335 1 2 327 0 8679 7 23 x 102 980 66 9 8 x 10 1000 5 36 x 103 13 887 3 417 x 107 2 37x 108 8 85x107 7 37x103 1x10 1 01 x 108 1 01x103 5 46x10 1 41x 10 243 0 1675 625x102 520x103 70 615 720x102 706x10 72 em 8 333 x 10 0 113 1 152 x 102 1 152 1 152 x 103 1 129 x 106 12 192 1 355 0 138 13 825 1 382 x 104 1 355 x 107 6 25 x 1072 5 208 x 10 7 061 x 10 7 200 x 107 7 200 x 107 72 007 7 061 x 10 8 850 0 737 141 612 0 102 10 197 1 019 x 104 86 796 7 233 1 388 x 103 9 806 100 1x 10 9 806 x 10 0 8679 7 233 x 102 13 877 9 806 x 102 102 1000 9 806 x 10 8 850 x 10 7 375 x 108 1 416 x 10 1 019 x 108 1 0197x 10 1 019x 10 0 0833 0 028 0 0254 3 h 12 0 333 0 3048 36 0 914 39 37 3 281 1 09 0 3937 0 03281 1 09 x 10 0 01 1 31 x 10 oO CH zech a 0 453 592 28 35 1 459 x 104 2 16 453 592 4 448 x 10 0 0625 28 35 2 780 x 10 2 205 x 103 0 03527 980 665 2 248 x 108 13 59 x 10 1 02x103 Conversion example Conversion from length value 10 inches into meters In the Length table look for in inch in the left column and m meter in the header line The table cell at the intersection of the column and the row indicates the conversion factor 0 0254 Mul tiply 10 inches by 0 0254 to obtain the value in meters 10 in x 0 0254 0 254 m
16. Hulea FALSE ht geecuion was nol feel aborbed e Thre bestan ia nnl Se a Syachronisation beirt Taki Up inl CICETIONIO goa Tperating mond Shere rs no Synchi nig anion bewren guidanti signa and motor With a compenpation movement Syncfode TRUE the motor momant is limited only by manny qurent idevice parameter Settings l mag see Panwall and tht mann notational speed ofthe deg AS 4990 as gear preceeding ic Gn ablod tet control deilian that H Caused Er bp oxpeing pul tt ms t opp bo qreaker Than the bag arte lhreshold wale dence paranti Geitmnge p maar eet manuel Cahoreite tha poddioning caninoller will Magat lag ber Berger Lahr Catalogue Motion Controller 47 Programming Motion Controller Programming system Programming languages Programming languages The programming system supports all five programming languages of the IEC 61131 3 standard and generates machine code for all commonly used processes This means the programming system combines the advantages of higher level pro gramme languages such as C and PASCAL with the straightforward handling and functions of a PLC programming system Instruction list IL An instruction list is a text oriented programming language and consists of a se quence of instructions Each instruction starts in a new line and contains an operator and depending on the type of operation one or more operands separated from one another by a comma There may be an identif
17. Module slot M1 for position set points for the micro modules e OMC analogue module e PULSE C for electronic gear operating mode via pulse direction signals e RS422 C for electronic gear operating mode via A B signals 5 Air exit 6 Mains connection 7 RS 232 interface 8 Status display 9 LED for DC bus voltage 10 Signal interface 11 DC bus and motor connection 12 5 LEDs for operating signals Interfaces Motor connection The motor connection is short circuit protected and is tested for earth fault at the pow er amplifier enable Electrical power supply The supply voltage for the power amplifier is connected at the mains connection TLC6e controllers with built in mains filter can be operated without further interference suppression measures on the mains side The power supply for the electronics and fan control must be provided via an external 24 Vpc power supply RS 232 interface The RS232 interface is a communication interface of the TLC61 for connecting a PC or the HMI hand held operating unit Signal interface The signal interface of the TLC6 has 14 freely useable inputs and 5 freely useable out puts In addition an analogue signal can be supplied via a 10 V input Catalogue Motion Controller Berger Lahr Motion Controller Berger Lahr TLC6 Motion Controller with drive Product description Micro modules optional IOM C input and output module The IOM C analogue module records an
18. The range of services includes Consulting gt Project planning gt Programming gt Commissioning gt Training gt Support Berger Lahr sales agencies receive round the clock hotline support from headquar ters in Lahr Products from Berger Lahr are used in many industries such as printing and paper textiles beverages and foodstuffs wood metal pharmaceuticals semi conductor production automobile production The Motion Controllers are used for controlling movements in machines or systems such as synchronous material handling pick amp place format adjustment cutting e g with rotating blade sawing e g flying saw glue application 21 2 D interpolation Standard products do not always provide customers with the optimum solution As a result Berger Lahr offers manufacturers of standard machines the opportunity to ad apt their standard products to customer specific requirements Together with the cus tomer we specify the functions and then develop and produce the appropriate pro duct If necessary Berger Lahr can take over the design of the product based on the customer s corporate design Catalogue Motion Controller Berger Lahr Motion Controller Berger Lahr Motion Control Visualisation Programming mmm o Fe uz e em mm RS232 OPC G i LS K biee al ofl Ka Ge oan est aE ie ber td Wa DI eo k F my ieee a t l ZP e Terminals Ethernet RS232 P a Profibus DP or
19. another axis master with a cam profile However neither of the axes is moved or influenced This block calculates the current nominal position of an axis slave if it were con nected to the movement of another axis master with a cam profile However neither of the axes is moved or influenced These blocks enable an online cam profile editor to be created This block represents a cam index gear It operates like MC_CamlIn on an MC_CAM_REF structure although it negates the actual cam profile information and only reads out the cam information This block evaluates the tappets output of the MC_CamlIn and outputs the current status of a cam This block of the SM_PLCopen lib reads out the current nominal position of the drive A nominal torque can be generated with this block if the drive is in torque control mode SMC_CAMVisu SMC_ReadCAM SMC_AxisDiagnosticLog 62 This block enables an online cam profile to be displayed This block is used for loading a cam profile at run time and providing the MC_CAMTableSelect and MC_CAMIn blocks The cam profile must have been created with the CAM editor and saved in a CAM file This block can be used for writing selected values of an axis into a file cyclically The file obtained in this way lends itself ideally to diagnostic purposes Catalogue Motion Controller Berger Lahr Motion Controller CNC function blocks SoftMotion blocks SMC_NCDecoder SMC_ToolCorr SMC
20. for Berger Lahr Motion Controllers and drives e CoDeSys runs on a PC with MS Windows 2000 NT and XP Professional opera ting system The online help and the documentation can be viewed without installing the program ming system Catalogue Motion Controller Berger Lahr Motion Controller Programming Programming system Online help The context sensitive online help from Berger Lahr is available to provide support throughout the programming procedure The online help describes the following points for each block e General introductory information as well as instructions that must be followed with the corresponding machine functions Which blocks are required for implementation e All inputs and outputs as well as control signals including declaration and value range e Signal diagrams as well as examples of the signal behaviour 1 UD Co Motor blocks E lr tem 9 biara rreraren 9 Pctetereceny 3 Eckes Gea OI Slog 2 Fidi poce comic 7 Brad pa amel ens LE Vorde pranatan P ET iF Enss harding ELAN Nena SP Bt Porcion ls H r mmm KAS E N H MC Hom MC S M Ho M How MC_Gearin_iFx Eraculo inde MIC Baalin Fa SYynichloda hay FalioNumeriior lCommandAboned ol Ratin Darcie Farsi Conmmand banod Type BODL Loa decou dn Valja range FALSE TRUE Intz value FALSE Funci n of the Mock Erabilt lhe el ctrenit qo TRUE the Georg was aboes by wathi block
21. frequencies kHz lt 400 Inc s 160000 e Resolution of the rotary encoder Marks 1000 Rotary encoder supply output SENSE SENSE control short circuit protected and with overload protection Output voltage V 5 5 Output current mA lt 300 HIFA C only with TLC 63 Supply voltage output for encoder Signal inputs e Sine cosine SIN COS Input resistance against GND Monitoring of motor temperature T_MOT 10 V 150 mA short circuit protected with overload protection not protected against interference voltage 1 with 2 5 V offset 0 5 with 100 kHz 2x1 NTC PTC RS 485 Berger Lahr A lt lli E Asynchronous half duplex Catalogue Motion Controller 31 TLC6 Motion Controller with drive Motion Controller Technical data of micro modules optional Technical data of micro modules optional RESO C only with TLC 63 Exciter voltage output 3 5 Vims 10 60 mA max short circuit protected protected against overload not protected against interference voltage Exciter frequencies 1 kHz 3 5 5 6 5 10 20 Monitoring of motor temperature T_MOT NTC PTC Sine cosine inputs Symmetrical with GND Input resistance kQ 2 15 Input voltage Vims 1 75 10 ESIM3 C Digital signal outputs A B RS422 voltage compatible electrically connected with 24 Venp RS485 C According to RS485 standard electrically isolated 4 wire interface Transmission rates kbaud 1200 2400 4800 9600
22. more drive groups to each drive inter face Various models of the Motion Controller are offered as a modular system based on this Concept PLCopen motion blocks e Electronic cam profile e Electronic gear e Various single axis processes e 2 D NC controller Catalogue Motion Controller 53 Programming Programming system SoftMotion 54 Motion Controller Advantages Motion programming independent of the drive Motion programming is largely independent of the drive used The drives can be re placed by others with a similar power without modifying the software simply by swapping over the corresponding basic libraries The motion progamme does not need to be changed Portability All motion libraries with the exception of the ones close to the system are written in the structured text programming language which means they can easily be trans ferred to all platforms supported by the programming system SoftMotion can current ly be used under MS Windows XP and CE Linux and on embedded platforms with FPU Floating Point Unit Integration in the programming system SoftMotion is integrated in the programming system This means the user can benefit from the familiar use of programming in Berger Lahr Motion Controllers The control progamme motion programming and the associated HMI Human Machine Interface can be created with a development environment Modular structure The modular structure means the motion proga
23. movements e Reference movement e Manual mode e Point to point mode e Speed mode All Motion Controllers described in this catalogue can be programmed using the Ber ger Lahr programming system in accordance with IEC 61131 3 The programming system is available on CD ROM see page 46 The SMC is programmed via the RS485 interface Drive interfaces CANopen master max 32 drives User defined inputs outputs 8 bidirectional Programming and operating interface RS232 1 Communication via OPC RS232 1 Fieldbus interface optional None Berger Lahr programming system Yes PLCopen single axis function blocks Yes PLCopen multi axis function blocks No NC editors No Cam profile editor No 1 The SMC has an RS485 interface An RS485 RS232 adapter is required for connection to a PC see SMC accessories 20 Catalogue Motion Controller Berger Lahr Motion Controller SMC Smart Motion Controller Product description Overview of devices 1 CANopen interface 2 RS485 interface for programming control 3 24 Vpc power supply 8 digital bidirectional inputs outputs Interfaces CANopen interface The SMC is a CANopen master according CiA DS 405 for communication with max 32 drives or slave devices e g UO sub assemblies o 3 o o RS485 interface The RS485 interface is used for transmitting user programmes to the Motion Control ler In addition the RS485 interface can be used as a communication interface to o
24. the PC interface cable 10m 62501441100 RS232 Equipped on the device side with 9 pin sub D connector and 9 pin sub D socket on the PC side with lateral cable output HMI interface cable RS232 The TLC6 is connected to the TL HMI with the 62501442015 HMI interface cable RS232 3m 62501442030 Equipped on the device side with 9 pin sub D ee connector and 9 pin sub D socket on the PC side 9 M 62501442050 with lateral cable output 62501442100 Analogue signal cable For connecting the TLC63 to a higher level con 1 5 m 62501443015 troller 3m 62501443030 10m 62501443100 Ballast cable Suitable for TLC63 For connecting the TLC63 with the ballast resistor controller TL HBC The wire diameter must be greater than or equal to the mains cable diameter 0 5m 62501444005 1 5m 62501444015 5m 62501444050 0 5m 62501445005 1 5m 62501445015 3m 62501445030 5m 62501445050 CAN cable For connecting the CAN C module of a TLC6 with 0 5 m 62501446005 another CAN station y 1 5 m 62501446015 Equipped with 9 pin sub D connector and 9 pin 5 m 62501446050 10 m 62501446100 Terminating connector for CAN cable The version that is required depends on the out Female connector 62501518002 put of the CAN module or the CAN master If the Plug 62501518003 CAN master has a male connector as its output the CAN terminating connector must be a female connector Pulse C cable For connecting a Berger Lahr controller with the PULSE C module of a TLC6 With 15 pin sub D connecto
25. 0 2220 Standard cable 9 pin sub D socket on 9 pin sub D connector for 1 1 wiring Ethernet to Magelis XBT GT1130 2130 2230 2330 Standard CAT5 Ethernet cable Ethernet to Magelis XBT GT4230 4330 4340 Standard CAT5 Ethernet cable Ethernet to Magelis XBT GT5230 5330 5340 6330 6340 Standard CAT5 Ethernet cable 7340 Other accessories Compact Flash cards 128 MB Is not offered XBTGM128 XBTZGM256 MPCYNOOCFEOON MPCYNOOCF100N XBTZ3002 XBTZG925 XBTZG935 Spring cage terminals RS232 transmission cable from PC to terminal For series XBT GT 1eee USB transmission cable from PC to terminal For series XBT GT2eee XBT GT 7eee Designation Description Order number CAN cable for communication between Motion Controller and Berger Lahr drives IclA Ixx installation set Material set for installing a compact drive 62501521001 Contents 4 pcs connector housing supply signals crimp contacts 2 cable entries incl shield foil strain relief IclA IFx cable Prepared on the drive side incl cable entry and strain 62501462030 relief for supply CANin and CANout other cable end Supply open CAN 9 pin sub D CAN cable for TLCe For connecting the CAN C module of a TLCe with 0 5m 62501446005 another CAN station y 1 5 m 62501446015 Equipped with 9 pin sub D connector and 9 pin sub D 62501446030 62501446050 62501446100 socket 68 Catalogue Motion Controller Berger Lahr Motion Cont
26. 2 Multi Axis Motion Controller Technical data Memory Main memory _ gt e Main memory RAM MB 64 Memory for CoDeSys application flash MB 32 Application data RAM MB 13 LI CA ND e Non volatile data of the application flash Programme processing time Average processing time for 1000 lines of an IL code 25 6 Weight Index of protection to DIN EN 60529 2000 09 Ke N o x T A IP20 Ambient temperature C 0 50 Transport and storage temperature C 40 70 Rel humidity 15 85 no condensation permitted Max installation altitude m above sea 1000 level O 0000000 o 0o 0 4 Dimensional drawing TLM2 Berger Lahr Catalogue Motion Controller 17 TLM2 Multi Axis Motion Controller Motion Controller Mounting and installation EMC compliant installation Earthing to star point Shielding on mounting plate System earth A Use shielded network cables only EMC measures TLM2 18 EMC installation is essential for compliance with the specified limit values Better re sults can be achieved using the following measures depending on the application e Connecting mains reactors ahead in series Specifications for current harmonics are available on request e Connecting mains filter ahead in series in particular to comply with limit values for the first environment living area category C2 e Installation in an
27. 3 CoDeSys is one of the leading development tools for programmable automation components More than 100 manufacturers of hardware components are now using CoDeSys for industrial automation Berger Lahr is expanding the basic functions of CoDeSys with a large number of func tion blocks Some of the function blocks correspond to PLC open standards 1 and 2 the rest are specific developments for Berger Lahr Motion Controllers Advantages Using CoDeSys as the basis for the Berger Lahr programming system offers decisive advantages for application programming e Non proprietary programming of different control systems with a single tool Installation of only one programming environment for programming all products from the more and 100 system partners of the CoDeSys Automation Alliance No dependency on a single supplier e Reduced training costs e Continuous further development of the programming system independently of the ongoing developments by individual hardware manufacturers CD ROM with programming system The CD ROM with the Berger Lahr programming system contains e CoDeSys installation files and configuration files for all Berger Lahr Motion Con trollers e Block libraries including SoftMotion and PLCopen blocks for CANopen drives from Berger Lahr as well as blocks for CANopen based on CiA DS405 for linking any CANopen devices e Online help German English for each Motion Controller and for each function block e Documentation PDF
28. AUXOUT 2 1 can be programmed with parameters 32 15 30 1 gt 3 mA lt 5 1 lt 0 5 mA lt 0 5 ms gt 1 TE 3 gt Accepts inductive load 150 mH 11 W accepts capacity load C lt 1 uF short circuit protected lt 30 lt 0 5 lt 0 3 i lt 0 1 Catalogue Motion Controller Berger Lahr Motion Controller TLC6 Motion Controller with drive Dimensional drawings IP54 TLC61 P Dimensional drawing of Motion Controllers TLC61 IP20 and TLC61 P IP54 Width A mm Height B mm Depth C mm Front width D mm Connection dimension E mm 245 127 Berger Lahr Catalogue Motion Controller 33 TLC6 Motion Controller with drive Dimensional drawings Motion Controller Dimensional drawing of TLC63 IP20 108 128 178 248 Width A mm Height B mm 212 5 212 5 260 260 Depth C mm 184 5 214 5 244 5 244 5 Front width D mm 105 5 125 5 176 246 Connection dimension E mm Additional dimension F mm 34 63 83 130 200 120 Catalogue Motion Controller Berger Lahr Motion Controller TLC6 Motion Controller with drive Dimensional drawings Dimensional drawing of TLC63 P IP54 Width A mm 147 Height B mm 360 Depth C mm 245 275 Front width D mm 127 127 Connection dimension E mm 80
29. BC not connected ESIM3 encoder simulation SAM safety module Communication on module slot M4 TLC 6 1 1 P S F IOM RM MODB HBC not connected CAN CAN bus IBS Interbus MODB Modbus ASCII or Modbus RTP can be configured PBDP Profibus DP RS485 RS485 ESIM1 encoder simulation 1 signal connection A B signals ESIM2 encoder simulation 2 signal connections A B signals Holding brake controller TLC 6 1 1 P S F IOM RM MODB HBC not installed HBC holding brake controller integrated cannot be retrofitted Berger Lahr Catalogue Motion Controller 41 Interfaces for communication 42 Motion Controller Interfaces for communication Ethernet is a hard wired data network technology for local data networks LAN Lo cal Area Network Ethernet permits data to be exchanged in the form of data frames between all devices connected to the local data network computers printers etc Nowadays Ethernet technology also links devices over long distances The main constituents of Ethernet are e Definitions of cable types and connectors e Description of signalling for bit transmission layer e Definition of package formats and protocols In terms of the OSI model Open Systems Interconnections Ethernet specifies OSI layer 1 physical layer and OSI layer 2 data link layer To a large extend Ethernet is standardised in the IEEE standard 802 3 It became the biggest selling LAN tech nology in the 1990s a
30. C6 Motion Controller with drive Order data for TLC6eP IP54 Type code example TLC 6 1 1 P S F IOM RM MODB HBC Product family TLC 6 1 1 P S F IOM RM MODB HBC TLC Twin Line Controller Device function TLC 6 1 1 P S F IOM RM MODB HBC 6 programmable according to IEC 61131 3 Drive booster TLC 6 1 1 P S F IOM RM MODB HBC 1 for stepper motors 3 for AC synchronous servomotors Nominal power TLC 6 1 1 P S F IOM RM MODB HBC 1 350 W TLC61 only 2 750 W TLC61 and TLC63 4 1500 W TLC63 only Degree of protection TLC 6 1 1 P S F IOM RM MODB HBC P degree of protection IP54 Mains voltage TLC 6 1 1 P S F IOM RM MODB HBC _ 230 Vac TLC63 only S mains voltage can be switched between 115 230 Vac TLC61 only L 115 Vac devices TLC632 only Mains filter TLC 6 1 1 P S F IOM RM MODB HBC F with built in mains filter Position set points on module slot M1 TLC 6 1 1 P S F IOM RM MODB HBC not connected IOM I O module 2 analogue and digital inputs outputs each PULSE for electronic gear P R or Py Pp signals RS422 for electronic gear A B signals Motor position acquisition on module slot M2 TLC 6 1 1 P S F IOM RM MODB HBC not connected RM rotation monitoring for encoder 1000 marks TLC61 only HIFA absolute encoder single or multi turn TLC63 only RESO resolver 12 bit evaluation TLC63 only Encoder simulation on module slot M3 TLC 6 1 1 P S F IOM RM MODB H
31. Debounce time ms 0 7 1 5 Digital signal outputs Accepts inductive load 50 mH short circuit protected reverse polarity protection DC voltage 12 30 e Inhibit current lt 100 e Switching current mA lt 50 e Voltage drop at 50 mA V lt 2 Analogue signal inputs FP Voltage range V 10 10 e Input resistance kQ 50 Resolution 10 Analogue signal outputs e Voltage range 10 10 e Max output current 5 Resolution bit 12 RS422 C Inputs __ RS422 voltage compatible electrically connected with 24 Vann Input frequency kHz lt 400 Outputs e Supply of the control rotary encoder Signal cable e Max length e Minimum cross section 5 V 5 300 mA max SENSE control short circuit protected protected against overload I 100 0 5 supply voltage 5 Vpc and 5 Venp 0 25 for other signals 3 3 N PULSE C Inputs e Control Symmetrical RS422 asymmetrical 4 5 30 V electrically connected with 24 Venp Input resistance kQ 5 Input frequency of the pulse signals kHz lt 200 Input frequency ENABLE kHz lt 1 Outputs Open collector short circuit protected Output voltage V lt 30 Output current mA lt 50 Signal cable Max length with RS422 connection m 100 Max length with open collector connection m 10 e Minimum cross section of the signal conductors mm 0 14 RM C only with TLC 61 Signal inputs A B RS422 level electrically connected with 24 Venp Input
32. J Baias E ae ee Catalogue Motion Controller a company Schneider Electric Motion Controller Berger Lahr Table of Contents Berger Lahr Motion Control 2 MotionControlsolUtionSsS 4 Available products 7 TLCC Cell Controller ProductdescriptiON 8 Technicaldata 10 DimensionaldrawingS 11 MountingandinstallatioN 12 Orderdata accessorieS 13 TLM2 multi axis Motion Controller Productdescripti0ON 0 14 Technical E CEET 16 DimensionaldrawingsS 17 Mountingandinstallation 18 Orderdata accessorieS 19 SMC Smart Motion Controller Product description EE 20 Technical dala EEN 22 DimensionaldrawingS 23 Mountingandinstallation 23 Orderdata accessorie 8s 24 TLC6 Motion Controller with drive booster Product descnplhof EE 25 Technical Datas EE 29 Dimensional drawings c eee 33 MountingandinstallatioN 36 Options for TLC6 P with degree of protection IP54 39 TYD COG ee R DE ew cet ane eae sees 40 Interfaces for Communication 42 Programming Run ti
33. Starts the current control operating mode The motor current is specified by a parameter or alternatively by an analogue input BL_VelocityControl BL_GearOffset List processing Starts the speed control or oscillator mode operating mode The motor speed is specified by a parameter not in TLC6e or optionally via an analogue input Start offset positioning in electronic gear mode List controlled operation takes place in the background whilst a movement is being performed and can be used together with all operating modes When the motor moves past an axis position that is stored in the list the TRIGGER interface signal of the drive is changed or a new speed is activated BL_ListWriteData Writes the list entries BL_ListAssignType Selects list type Position signal list or position speed list BL_ListControl Starts list processing A movement that ensures the motor reaches the positions stored in the list must be triggered by a motion block BL_ListReadStatus Reads the current status of list processing Data set processing In data set mode the drive processes programmed travel data sets It is possible to select between 50 user programmable travel data sets for a movement which start a movement in point to point or speed mode Each data set contains entries for position speed system of dimensions absolute or relative and ramp selection BL_DataSetControl Starts a movement in data se
34. The Mo tion Controllers function as intelligent actuators in an automation system The TLC61 Motion Controller for 3 phase stepper motors is available in two power classes up to 750 W The TLC63 Motion Controller for AC synchronous servomotors is available in four power classes up to 8 kW The electrical connections and range of functions are identical The TLC6e controllers are available with two degrees of protection e P20 for use in a control cabinet e IP54 category 2 for use without a control cabinet close to the motor e Single axis positioning movements e Control of a motor movement with simultaneous monitoring and control of sequences e Cyclical processing of the inputs and outputs in parallel with the axis movement e Configuration of motion sequences e Movements coupled to external events and synchronized accordingly e Reference movement Manual movement e Point to point mode e Speed mode Teach in of position values e Cam index gear e Electronic gear e Oscillator mode e Safety functions All Motion Controllers described in this catalogue can be programmed using the Berg er Lahr programming system in accordance with IEC 61131 3 The programming sys tem is available on CD ROM see page 46 The TLC6 is programmed via the RS232 interface Operation is performed via e pluggable Twin Line HMI Human Machine Interface operating unit Twin Line CT Control Tool operating software Higher level control system
35. X outdoor use indoor use only with holders for screw mounting IP20 Vijeo Designer under MS Windows 98SE 2000 and XP Professional see page 67 for description The terminals can be ordered from Schneider Electric and are described in the Tele mecanique catalogue ZXKHMI Catalogue Motion Controller 65 Accessories Motion Controller Terminals for TLCC and TLM2 Configuration software XBT L1001M r e The configuration software XBT L1001M enables dialog applications to be developed for control panels of the Magelis XBT N and XBT R series The software XBT L1001M runs on an IBM compatible PC with the MS Windows 98 2000 and XP operating system The applications written with the software XBT L1001M are independent of the proto col used a user application can be used together with various controllers from Berger Lahr Structure of the configuration software XBT L1001M 1 Application window page 2 Navigation window tree structure of the pages 3 Window with information about the fields of the displayed page The configuration software XBT L1001M makes it easy to create various pages for example Applications pages that can be linked together e Alarm pages e Help pages e Recipe pages The pages can contain all kinds of variables and graphic objects that are either defi ned with the software XBT L1001M or are created and imported with other applications The following properties can be assigned to the variable
36. _AvoidLoop Programming Programming system Block libraries The function of the block is to convert a CNC progamme created in the CNC editor into a list of SoftMotion GEOINFO structural objects The block is used for track preparation The block generates an offset track based on a specified track in which each point of each position object is located at a specified distance from its origi nal and its direct neighbour tool radius correction It is therefore guaranteed that each of the points in the track generated in this way has a fixed distance from the original track A typical application involves cutting a programmed contour using a router of a specific thickness The router bit needs to move along an appropriately offset track that can be generated with the help of the SMC_ToolCorr block in order to compensate for the radius of the bit The block is used for track preparation The block uses a specified track to generate a loop free copy of this track This means if there is a point in the original track where the track intersects itself the track is cut out at this point the loop omitted and movement continues with the rest of the track This results in a loop free uninterrupted track SMC_SmoothPath SMC_RoundPath The block can be used for track preparation The block rounds off corners in the track and thereby produces a smooth track corner rounding The purpose is as follows if accuracy of movement is less impor
37. ace This procedure ensures synchronicity is maintained between periodic axes e g packaging machines MC_CamOut MC_GearlIn MC_GearOut An active cam profile connection is terminated and the axis continues moving at the current speed A speed connection to a master axis is started If the master is already moving a smooth approach movement is calculated in order to reach the speed of the master axis as quickly as possible whilst maintaining the specified limit values The gear ratio can be modified at any time when a connection is active As at the start of the connection a smooth transitional movement to the new connection ratio is calculated automati Cally An active speed gear is terminated The axis continues to move at the current speed MC_Phasing SoftMotion blocks A master side phase shift for the gear and cam profile connection is established with the speci fied speed and acceleration SMC_ErrorString SMC_ Error The SMC_ErrorString function returns a string representation of the error depending on the entries for ErrorlD SGMC_Error and Language GSMC_LANGUAGE_TYPE English German The SMC_Error enumeration contains all error numbers generated by SoftMotion FBs SMC_GetCamSlaveSetPosition SMC_CAMEditor SMC_CAMRegister SMC_GetTappetValue SMC_ReadSetPosition SMC_SetTorque This block calculates the current nominal position of an axis slave if it were connected to the movement of
38. ant that an ever increasing number of programmers have developed the operating system into a high performance and stable platform Nowadays Linux offers an extensive pool of applications some of which are also available at no cost Advantages The RT Linux operating system offers the following advantages No license fees Embedded Linux utilises the GNU toolchain This is often available as a binary version for various platforms and does not need to be written specially The development en vironments are free and freely available There are no license fees for using Embedded Linux Simple implementation of customer specific modifications Often applications can be used in a new hardware design without extensive modifi cations This means customer specific modifications can be implemented quickly High performance network support An important strength of Linux is its high performance network support Low risks As a rule there is a reference implementation driver communication network for each task in Linux that can be used for independent developments This minimizes not only the costs but also the risks Katalog Motion Controller 45 Programming Programming system Introduction 46 Motion Controller Introduction The Berger Lahr programming system is based on the programming software CoDe Sys of the independent software company 3S Smart Software Solutions GmbH CoDeSys corresponds to the PLC standard IEC 61131
39. ared cables 62501519002 the connector set contains the necessary sub D mating plug hoods and screws for the module slots as well as the RS232 interface Documentation Twin Line documentation CD ROM DE EN FR IT 98441113138 Twin Line Control Tool TLCT DE 98441113095 H 98441113105 98441113106 ols l Profibus DP 98441113126 EN 98441113125 FR 98441113127 98441113128 CAN Berger Lahr profile DE 98441113122 EN 98441113121 FR 98441113123 IT 98441113124 CAN CANopen DS 402 profile DE 98441113140 EN 98441113141 FR 98441113142 IT 98441113143 Interbus S IBS DE 98441113131 EN 98441113130 FR 98441113132 IT 98441113133 RS 485 interface DE 98441113135 EN 98441113134 FR 98441113136 IT 98441113137 Twin Line Human Machine Interface TL HMI DE EN FR IT 98441113091 Note Please refer to the Twin Line accessories catalog for a detailled description of the accessories for TLC6 Berger Lahr Catalogue Motion Controller 71 Appendix Motion Controller Conversion tables 6 94x 103 259x10 2 15x104 2 926 298x103 2 92x103 2 984 16 4 14 x 10 144 0 3729 3 10 x 102 421 40 0 4297 4 21 x 10 429 71 2304 5 967 386 08 2 681 8 33 x 102 1 1 129x 10 1 152 1 129 x 10 1 152x10 6 177x 103 16 4 63 x 103 32 17 12 1 35 x 104 13 825 1 355 x 107 11 38x104 7 41x10 192 0 3417 2 37 x 103 8 85x104 7 37x108 1 019 x 108 1000 1 019 5 46 1 41 x
40. ation In the case of simulation the generated controller progamme is not processed on the controller but on the computer on whichCoDeSys is running All online functions are available This means it is possible to check the logical correctness of the progamme without having the controller hardware available Catalogue Motion Controller Berger Lahr Motion Controller Berger Lahr Programming Programming system SoftMotion emm a SoftMotion Disk Motion END Motion Control Seet Drive emi mn mg ere rer me SE Be SoftMotion is a part of the programming system and makes it possible to progamme highly synchronous movements in controllers with a pulse direction interface e g TLM2 or in controllers with synchronous fieldbus interfaces such as CANsync or SERCOS The possible applications range from single axis travel movements through to NC track interpolations In contrast to other solutions that perform motion tasks with uniform monolithic hard ware dependent control systems SoftMotion provides the motion functions in the form of a modular system Solutions with any degree of complexity can be created from this The axes are made available in an abstract form as a data structure Drivers from Berger Lahr provide the specific connection to the drive interface A configuration tool is available for configuring the drives The configuration tool inte grates the drive interfaces and assigns one or
41. build up a Motion Controller lt Leliechep lt SC tll ie kilo H 1 Prarie Sieten tee EIDEL E 2460 Zant cen DH FT DI NOHO ioraa AD aen Z F DO r 0 009 toT MIS KO ZF QRT Mob j MF ton Drivers from Berger Lahr for the pulse direction CANsync and SERCOS drive interfaces Control with Sercos Master on request Visualisation elements for designing tailor made interfaces for the application Graphic editors with DXF import for planning and entering movements Cam profile editor CAM EENE E P E GR S H EA Ef ERT ES PENS Visualisation templates for all library functions in order to generate operating and test screens rapidly Catalogue Motion Controller 55 Programming Motion Controller Programming system Block libraries Block libraries There are special block libraries for most Berger Lahr drives in order to assist the work of the application programmer All blocks are based on the standards or recommendations of the PLCopen organiza tion PLCopen block library PLCopen is an organization active in the industrial control technology field PLCopen defines standard blocks for improving the efficiency of application development and for reducing the costs of software maintenance PLCopen has as its objective to define international standards that are independent of manufacturers and products and to promote its widespread use in the area of in dustrial controller
42. custom specific 4x Pulse direction lt O ra O O B a Stepper motor drives DC brushless motor drives AC servo motor drives Linear axes Berger Lahr Catalogue Motion Controller 3 Motion Control solutions Motion Controller 4 Catalogue Motion Controller Berger Lahr Motion Controller Motion Control solutions Berger Lahr Catalogue Motion Controller 5 Motion Control solutions Motion Controller 6 Catalogue Motion Controller Berger Lahr Motion Controller Available products Available products Connection for step Connection for per motor CANopen AC servomotor and CANopen master max 32 drives CANopen master max 126 drives 4 x pulse direction CANopen master Drive interfaces max 126 drives master CANopen master max 126 drives max 126 drives User defined inputs outputs 32 16 32 16 8 bidirectional 14 5 Programming and operating inter Ethernet TCP IP Ethernet TCP IP RS232 1 RS 232 face RS232 RS232 Communication via OPC Ethernet TCP IP Ethernet TCP IP RS232 1 RS 232 Profibus DP slave 2 Profibus DP slave 2 Profibus DP slave CANopen slave Modbus RS485 None Fieldbus interface optional Berger Lahr programming system Yes Yes Yes Yes PLCopen single axis function Yes Yes Yes blocks PLCopen multi axis function blocks Yes Yes NC editors No Cam profile ed
43. d generates analogue and digital voltage val ues The analogue outputs can be set by the user The IOM C micro module expands the functions of the Motion Controller with two analogue and two digital inputs out puts RS422 C for electronic gear via A B signals The RS422 C encoder module records encoder signals that are supplied as A B sig nals In addition the index pulse is recorded and evaluated The electronic gear op erating mode is a typical application PULSE C for electronic gear via pulse direction signals The PULSE C module records the positioning data as a pulse direction signal or a pulse forward pulse backward signal The electronic gear operating mode is a typi cal application RM C for connecting an encoder for rotation monitoring only with TLC61 The RM C module detects the position deviations of a stepper motor movement The actual position signaled by the rotary encoder is compared to the nominal position A tracking error is signaled if the deviation exceeds a defined value HIFA C for connecting a SinCos absolute encoder only with TLC63 The HIFA C module records the motor position of AC synchronous servomotors that are equipped with a SinCos absolute encoder In the motor the position of the rotor is detected optically and transferred to the HIFA C module as analogue and digital position data The module resolves the signals with 14 bit accuracy corresponding to 16384 pulses revolution The absolute encod
44. degree of protection IP54 can be configured with a holding brake controller HBC Holding Brake Controller in addition to the micro modules The integrated holding brake controller boosts the brake signal of the signal interface and activates the holding brake so that it closes quickly and generates as little heat as possible When the power amplifier is enabled the holding brake is automatically released and it is automatically applied when the power amplifier is switched off The connection for holding brake activation is on the underside of the housing Passage grommets The cables and connectors are passed through the housing A set of passage grom mets is available as an option in order to achieve degree of protection IP54 Clamping bracket A clamping bracket with top hat rail TS 15 for a snap on mini modular terminal block with max 1 5 mm cross section is optionally available in order to permit additional wir ing and possibly to dispense with external terminal boxes The clamping bracket is in stalled inside the Motion Controller housing Please refer to the Twin Line accessories catalogue for information and technical data about available accessories Catalogue Motion Controller 39 TLC6 Motion Controller with drive Motion Controller Order data of TLC6e IP20 Product family TLC 6 1 1 F IOM RM MODB TLC Twin Line Controller D Device function TLC 6 1 1 F IOM RM MODB 6 programmable according to IEC 61131 3 Driv
45. der RS422 can be connected to the TLM2 for supplying the val ue set e Autonomous production cells that require motion and PLC functions The TLM2 can usually replace a conventional PLC to a certain extent in production cells such as these Applications that require coordinated or independent movements e g pick amp place handling assembly and testing Applications that need a connection to a company network e Applications that require track movement by 21 2 D interpolation such as apply ing glue cutting forms and figures axis portals Applications in which technology functions are required such as cam profile cam switching synchronous angle running e Coordination of demanding axis movements in master slave synchronisation or as NC axes with spline parabola circle or linear interpolation Intelligent gateway Reference movement Manual mode Point to point mode 21 2 D interpolation Electronic cam profile with up to four axes Cam index gear Synchronous angle running with up to four axes Electronic gear Highly synchronous movements of up to four axes All Motion Controllers described in this catalogue can be programmed using the Berg er Lahr programming system in accordance with IEC 61131 3 The programming sys tem is available on CD ROM see page 46 The following interfaces can be used for transmitting the user programmes to the TLM2 e RS 232 e Ethernet Drive interfaces 4 x p
46. e booster TLC 6 1 F IOM RM _ MODB 1 for stepper motors 3 for AC synchronous servomotors Nominal power TLC 6 1 F IOM RM _ MODB 1 350 W TLC61 only 2 750 W TLC61 and TLC63 4 1500 W TLC63 only 6 3000 W TLC63 only 8 8000 W TLC63 only Mains filter TLC 6 1 F with built in mains filter 230 Vac NF without mains filter 230 Vac with TLC61 115 V 230 VAC can be switched over LV without mains filter 115 Vac only possible with TLC632 Position set points on module slot M1 TLC 6 1 not connected IOM I O module 2 analogue and digital inputs outputs each PULSE for electronic gear P R or PBP signals RS422 for electronic gear A B signals Motor position acquisition on module slot M2 TLC 6 1 not connected RM rotation monitoring encoder 1000 marks TLC61 only HIFA SinCos absolute encoder single or multi turn TLC63 only RESO resolver 12 bit evaluation TLC63 only Encoder simulation on module slot M3 TLC 6 1 not connected ESIM3 encoder simulation SAM safety module Communication on module slot M4 TLC 6 1 not connected CAN CAN bus IBS Interbus MODB Modbus ASCII or Modbus RTP can be configured PBDP Profibus DP RS485 RS485 ESIM1 encoder simulation 1 signal connection A B signals ESIM2 encoder simulation 2 signal connections A B signals 40 Catalogue Motion Controller Berger Lahr Motion Controller TL
47. een the client and controller Therefore the OPC server can inform the OPC client whenever the value or status of a variable changes The properties of DCOM means that it is possible to access an OPC server running on a different computer In addition several clients can access the data source at the same time Another advantage of using the COM standard is the ability to use different program ming languages C Visual Basic Delphi Java OPC server 2 0 is capable of communicating with all controllers that can be pro grammed with CoDeSys Library manager The library manager displays all libraries that are connected to the current project The blocks data types and global variables of the libraries can be used as self de fined blocks data types and global variables Hierarchical graphic PLC configuration The structure of the blocks is hierarchical similar to Windows Explorer Ly be Dei bes L ee ee Pe SOAR Allee 2 erg PELE OR EK FAR MN esu FEAN Or Froen Visualisation By visualising project variables geometrical elements can be drawn in offline mode and then their shape colour or text output can be changed in online mode depending on certain variable values A visualisation system can also be used as an exclusive user interface for a project with a HMI Human Machine Interface or depending on the target system also as a web or target visualisation system via the internet or on the target system Simul
48. enclosed control cabinet with 15 dB attenuation of the emitted radiation Power supply _ Star point to earthing Shield signal cable on both ends Deet DUAAN OoOo0000000 Encoder Earth signal lines lt for digital I O s on plug case CANopen use shielded network cables only Catalogue Motion Controller Berger Lahr Motion Controller TLM2 Multi Axis Motion Controller Order data Control cabinet The size of the control cabinet must be such that all devices and components can be firmly installed in it and wired up in accordance with EMC regulations The control cabinet ventilation must be capable of evacuating the heat losses by all devices and components installed in the control cabinet Position the Motion Controller in the control cabinet so that the heated air flow from other devices e g an external ballast resistor does not result in undesirable heating of the device cooling air Install the Motion Controller vertically with the 24 Vpc connection at the top Secure the Motion Controller to a galvanized metal plate The back wall of the Motion Controller must make good contact with the metal plate over a wide area Installation clearances The ventilation openings on and underneath the device must be at least 70 mm awa
49. er in tegrated in the motor can be configured as a single turn or multi turn encoder The multi turn encoder has its absolute position within 4096 revolutions after being switched on In addition to the motor position data the motor parameter set electron ic motor type plate from the SinCos memory is transferred to the HIFA C module via the integrated RS485 interface RESO C for connecting a resolver only with TLC63 Resolver connection for position response of the motor position to the controller The controller sends an exciter voltage to the resolver Depending on the rotor posi tion the amplitude of the signal is modulated and sent back to the controller as a sine cosine signal The resolver module resolves the signals with 12 bit accuracy into a digital A B signal The RESO C module can only be used with resolvers that record a revolution with the absolute method The transformation ratio of the resolver must be 0 5 0 005 ESIM3 C for encoder simulator The ESIM3 C module outputs the position data of the motor in form of incremental sig nals on a 15 pin sub D socket The incremental signals are two signals with a 90 electrical phase shift A B tracks The transmitted resolution can be set between 125 and 4000 increments per revolu tion no index pulse is available Prerequisite with TLC61 The M2 slot must have the RM C module fitted in order for this module to be used A typical application for this module includes following axe
50. eral equipment e g Magelis terminals but also serves as a program ming interface alongside Ethernet Important properties of RS232 e Transmission is in words 8 databits e Data transmission is asynchronous e RS232 is a voltage interface e 9 pin sub D plug and socket connection e Data transmission in handshake The Soft Motion Controller SMC has an RS485 serial port with RJ45 female connec tor A programming cable with RS485 RS232 adapter can be ordered as an accesso ry item for connecting to a PC The pulse direction interface is suitable for controlling stepper motors and servomo tors The power amplifiers are controlled according to the principle of 1 pulse 1 step i e the motor turns by precisely one increment for each voltage pulse The direction of rotation and release of the power amplifier are handled on other cables At the same time the power amplifier signals operating readiness and malfunctions via the interface Important properties of the pulse direction interface e sub D 15 pin plug and socket connection e Shielded cable twisted pair lines minimum cross section of the signal conduc tors 0 14 mm e Grounding of the shield on both ends e Maximum cable length 100 m Customer specific interface solutions are possible for the TLCC and TLM2 Motion Controllers This means our customers can continue to use their existing control con cepts For example the control technology can implement an intelligent gateway
51. es moving with the new parameters without interrupting movement Changing to another single axis movement MC_MoveAdditive MC_MoveVelocity is possible at any time A specified distance is covered starting from the current actual position of the axis with a speci fied speed and acceleration Motion parameters such as target position speed and acceleration can be modified in real time The axis then continues moving with the new parameters without interrupting movement Changing to another single axis movement MC_MoveAbsolute MC_MoveAdditive is possible at any time MC_MoveAdditive The specified distance is added to the original target position of the axis Movement takes place to the new target position immediately with a specified speed and acceleration Motion parame ters such as target position speed and acceleration can be modified in real time The axis then continues moving with the new parameters without interrupting movement Changing to another single axis movement MC_MoveAbsolute MC_MoveAdditive is possible at any time MC_MoveSuperimposed MC_MoveVelocity The current movement also at standstill has a relative movement superimposed on it The orig inal movement is not cancelled A movement is started with the specified speed and acceleration Movement takes place to the new target position immediately with a specified speed and acceleration The axis then contin ues moving with the new parameters wit
52. h 0 25 mm wire cross section Digital outputs 100 8 freely useable bidirectional inputs outputs optionally as input or output no elec trical isolation short circuit proof Max output current lt 200 al gt Max output voltage Voc 28 Max residual voltage at signal mode low mV 200 Main memory MB 1 of which for user programs for application data for non volatile application data Real time clock 312 126 8 Real time clock with resolution accurate to the second with backup battery read out and set by the user programme Program processing time Average processing time for 1000 lines of an IL code Mechanical data Weight Index of protection to DIN EN 60529 2000 09 Ambient conditions Ambient temperature Transport and storage temperature A A A g 570 T n 0 6 IP20 o x T 0 50 40 70 Rel humidity 15 85 no condensation permitted Max installation altitude 22 Catalogue Motion Controller Berger Lahr Motion Controller SMC Smart Motion Controller Dimensional drawings Dimensional drawing of SMC Dimensions do not include the connectors or the top hat rail mounting bracket Add 20 mm to depth D for the 10 pin connection plug JP101 14 mm must be added to the depth D or the height H for top hat rail mounting de pending on the mounting position A low resistance connection must be made between the SMC and protective ea
53. hout interrupting movement Changing to another sin gle axis movement MC_MoveAdditive MC_MoveVelocity is possible at any time MC_Home The axis is referenced on a specified position MC_Stop MC_PositionProfile MC_VelocityProfile MC_AccelerationProfile 60 Movement is stopped with a specified deceleration ramp Starts processing of a motion profile that is described by time position value pairs T P4 To Pn For each value pair it is the case that the axis is moved at the specified time T through the specified position P and then activates the next point T 1 Pi44 Starts processing of a motion profile that is described by time speed value pairs T4 Vy Ton Yn For each value pair it is the case that the axis adopts the specified speed v at the specified time T and changes to the speed v at the time lu Starts processing of a motion profile that is described by time acceleration value pairs T4 a Tp an For each value pair it is the case that the axis adopts the specified accelera tion a at the specified time T maintains it and changes to the acceleration a at the time lu Catalogue Motion Controller Berger Lahr Motion Controller Single axis function blocks Berger Lahr blocks Read parameter Programming Programming system Block libraries BL_GetVersion BL_ReadRefPosition BL_ReadRefVelocity Returns the version of the block library Reads the value of the cu
54. ier mark before an instruction followed by a colon The iden Dier mark is used for identifying the instruction and can be used as a jump target for example Example LD 17 ST lint Remark GE 5 JMPC next LD idword BHO iaunstruct sdword STNtest next Structured text ST Structured text is a text oriented programming language based on the PASCAL high level language As in PASCAL for example ST also includes conditional progamme branches IF THEN ELSE andloops WHILE DO Example IF value lt 7 THEN WHILE value lt 8 DO value value 1 END WHILE END IF Sequential function chart SFC Sequential function chart is a graphically oriented programming language that makes it possible to describe the time sequence of various actions within a progamme For this purpose step elements are used which can have certain actions assigned to them and the sequence of which is controlled using transition elements Example of SFC programming language 48 Catalogue Motion Controller Berger Lahr Motion Controller Berger Lahr Programming Programming system Programming languages Ladder diagram LD Ladder diagram is a graphically oriented programming language based on the circuit diagram of an electrical circuit Ladder diagram is suitable for constructing logical sequential circuits and creating net works Therefore ladder diagram is extremely well suited for controlling ca
55. imum of 20 variables each with up to 500 values at the same time Trace recording can be used for testing the application recording data during com missioning or for triggering events The digital memory oscilloscope integrated in the programming system provides a means of presenting data optically treceeulreicheung F xj Trigger KO D MainTack Cosinus T Wag 1 MainTask Sinus War ER JO kr Iwer MainTack Sinus Wide d 140 1m H O Ho TCC am wm Trace recording OPC server The OPC server OLE for Process Control OLE Object Linking and Embedding is contained in the programming system as standard It complies with OPC specification 2 0 and runs under MS Windows NT 2000 and XP OPC is a standardised interface for accessing process data The interface is based on the Microsoft COM DCOM standard and has been expanded to meet the require ments of data access in automation In automation the interface is predominantly used for reading and writing values from the controller Catalogue Motion Controller 51 Programming Programming system Components 52 Motion Controller OPC clients include visualisation systems progammes for production data acquisi tion etc OPC servers are provided for PLC systems and fieldbus cards for example The OPC server is not a passive sub progamme library but a runnable progamme that is started when a connection is established betw
56. istWriteData BL_ListAssignType BL_ListControl BL_ListReadStatus Data set processing BL_DataSetControl BL_DataSetPTP BL_DataSetVelocity BL_DataSetRamp BL_DataSetType BL_DataSetChange Blocks for ATV31 and ATV71 BL_DownloadDriveParameter_ATV31 Yes No No No No BL_DownloadDriveParameter_ATV71 Yes No No BL_GetVersion_ATV Yes No No BL_ReadAnalogInput_ATV Yes No No BL_ResetParameters_ATV Yes No No BL_SetDriveRamp_ATV Yes No No BL_SetFrequencyRange_ATV Yes No No BL_UploadDriveParameter_ATV31 Yes No No No No BL_UploadDriveParameter_ATV71 Yes No No No No BL_VelocityControlAnalogInput_ATV Yes No No No No BL_VelocityControlSelectAl_ATV 58 Catalogue Motion Controller Berger Lahr Motion Controller Programming Programming system Block libraries Multi axis function blocks For drives with interface Pulse direction Drive type ATV31 ATV71 Lexium 05 TLC4 TLC5 Lexium 05 TLC6 SD3 29 IclA IDS TLD PLCopen blocks MC_CamTableSelect No No No No Yes MC_CamOut No No Yes MC_Gearln w Yes Yes Yes MC_Phasing Yes SoftMotion blocks SMC_ErrorString Yes SMC_CAMEditor Yes SMC_ReadSetPosition Yes SMC_ReadCAM Yes SMC_ReadNCFile Yes CNC function blocks For drives with interface CANopen Pulse direction Drive type ATV31 ATV71 Lexium 05 IclA IFe TLC4 TLC5 Lexium 05 SD3 28 TLC6 SD3 2 IclA IDS TLD SoftMotion blocks
57. itor No Yes No Yes Motion functions e Reference move Reference move Reference move Reference movement ment ment ment e Manual mode e Manual mode e Manual mode e Manual mode e Point to point mode e Point to point e Point to point e Point to point Speed mode mode mode mode Teach in of position values e Coordinated e 21 2 D interpolation e Speed mode e Cam index gear movements of e Electronic cam e Electronic gear several axes profile with up to e Oscillator mode four axes e Safety functions e Cam index gear e Synchronous angle running with up to four axes Highly synchro nous movements of up to four axes 1 The SMC has an RS485 interface An RS485 RS232 adapter is required for connection to a PC see SMC accessories 2 other fieldbus interfaces on request Berger Lahr Catalogue Motion Controller TLCC Cell Controller Product description Motion Controller TLCC Cell Controller The Twin Line Cell Controller TLCC is a Motion Controller with an integrated very high performance software PLC The TLCC has an web server In addition a Modbus server is integrated to facilitate connection to Magelis terminals of the XBT series from Schneider Electric via RS232 or Ethernet e Autonomous production cells that require motion and PLC functions The TLCC can replace a conventional PLC to a certain extent in production cells such as these e Applications that require coordinated or independent movements e g
58. lOutput Yes Yes Yes Yes No MC_SetPosition No Yes Yes Yes Yes MC_SetOverride No No No No No MC_ReadActualVelocity Yes Yes Yes Yes Yes MC_ReadActualTorque No No No No Yes MC_TorqueControl No No No No Yes MC_MoveAbsolute Yes Yes Yes Yes MC_MoveRelative Yes No No Yes MC_MoveAdditive Yes Yes Yes Yes MC_MoveSuperimposed No No No No Yes MC_MoveVelocity Yes Yes Yes Yes Yes MC_Home No Yes Yes Yes Yes MC_Stop Yes Yes Yes Yes Yes MC_PositionProfile No No No No Yes MC_VelocityProfile No No No No Yes MC_AccelerationProfile No No No No Yes MC_Jog No Yes Yes Yes Yes Berger Lahr blocks Read parameter BL_GetVersion No Yes Yes Yes No BL_ReadRefPosition No Yes Yes Yes No BL_ReadRefVelocity BL_ReadRefPositionInc BL_ReadActualMasterPosition Berger Lahr Catalogue Motion Controller 57 Programming Programming system Block libraries Single axis function blocks For drives with interface Drive type BL_ReadActualMasterVelocity Motion Controller CANopen Pulse direction ATV31 ATV71 Lexium 05 TLC4 TLC5 _ Lexium 05 TLC6 SD3 2 IclA IDS TLD No BL_ReadActualPositionInc BL_ReadAnalog nputs BL_ReadActualOffsetPosition No No No BL_ReadActualOffsetVelocity Write parameter BL_SetDriveRamp No BL_ResetParameters BL_StoreParameters BL_ConfigurelO BL_ControllO BL_SetLimitSwitch Motion Yes Yes No Yes No No BL_CurrentControl BL_VelocityControl BL_GearOffset List processing BL_L
59. ler 63 Accessories Motion Controller Terminals for TLCC and TLM2 Alphanumerical terminals Accessories S J g o 1 3 1 KE cH 1 1 1 CH LEE o LEUK Display Type e Colour Capacitance Text size Active display area Alphanumeric Matrix display LCD with back lighting LCD with back lighting 122 x 32 pixels Green Green orange red Green 2 x 20 characters 4 x 20 1 x 5 characters large 5 55 x 3 2 mm 4 34 x 2 96 17 36 x 11 8 mm 74 x 12 mm 72 x 20 mm Motion Controller Keyboard LED signalling Max number of pages 8 keys 4 of which can have new labels No LED 6 LEDs 4 of which are for the 4 central keys Application pages 128 200 e Alarm pages 256 Interfaces Serial port RS232 C RS485 RJ45 female connector RS232 RS485 25 pin sub D socket RJ45 female connector RS232 RS485 Protocols Modbus master Uni Telway Modbus master and slave Uni Telway Sysmac way Electrical power supply Printer port Via the Motion Controller connection cable Pluggable terminal strip 3 Via the Motion Controller screw terminals 5 08 connection cable securing capacity 1 5 mm MiniDin No printer connection No printer connection Display Matrix display Type LCD with back lighting 122 x 32 pixels e Colour Green Green orange red Capacitance 4x 20 1 x 5 characters large
60. lls of other blocks Ladder diagram consists of a sequence of networks that are limited on the left and right by vertical current conductors In between the current conductors there is a cir cuit diagram comprising contacts coils and connection lines Each network is made up of a sequence of contacts on the left which pass on the status ON or OFF from left to right There is a Boolean variable for each contact The status of the variables is passed on to the right IN1 INZ SCHALT1 2043 0 _ sau STELL MOTORI DE SCHALT2 SCHALT3 SCHALT4 F Z1X2 7 Z1Xx2 8 Z1X2 0 F Example of LAD programming language Function block diagram FBD Function block diagram is a graphically oriented programming language Function block diagram works with a list of networks with each network having one structure This structure can represent the following Logical or arithmetical expression e Function call e Jump e Return instruction Inst Example of FBD programming languages Continuous function chart CFC Continuous function chart is based on function block diagram but works with freely positionable elements instead of with networks This enables return links for example Example of CFC programming language Catalogue Motion Controller 49 Programming Programming system Components 50 Motion Controller Components Complete offline simulation All user progammes can be tested offline bef
61. m current consumption mA 1000 Output voltage Voc 5 5 Overcurrent protection A gt 10 on the output side 5 V Max mains failure bridging ms 10 RS 232 interface H Max baud rate kbaud 115 Max cable length 15 Ethernet interface RJ45 female connector Ethernet TCP IP protocol programming or communication with the host system CANopen interface CiA DS 301 V4 02 CANopen application layer and communication profile CiA DS 405 V2 0 CANopen interface and device profile for IEC 61131 3 pro grammable devices Max baud rate Mbaud 1 default setting 500 kbaud Max number of slaves 126 Profibus DP slave interface optional Specification EN 50170 Max baud rate Mbaud 12 Min baud rate kbaud 9 6 Cable specification Digital inputs Number of inputs Profibus cable preferably type A Short circuit protected filtered over voltage protection 32 freely useable Max input voltage Switching threshold low gt high Switching threshold high gt low Voc 30 Voc gt 10 Voc lt 5 Input resistance pull down to VM 3 3 0 5 Debounce time Max cable length with 0 25 mm cross sectional area 500 100 Digital outputs Short circuit protected over voltage protection Number of outputs 16 freely useable Max residual voltage at signal mode low mV lt 200 Max output voltage Voc 28 Max output current mA 500 Voltage drop when loaded with 500 mA Voc lt 2 Memo
62. me system TLCCV 2 44 Operating system HIT Unus 2 0 0 0 cee ee eee 45 Programming system NO GUCHON s a fe hens asi ahd he a a ao ln ee AE 46 ProgramminglangUag S 48 Components c es 50 SON MONOD eres E dek ee eee e a eene ed ee 53 Block libraries 56 Accessories Terminals for TLCC and TLM2 64 FOr TIC Ge gave os ond ee ute ee ona eee oa ad A VA 68 Appendix ConversiontableS 72 Catalogue Motion Controller 1 Berger Lahr Motion Control Motion Controller Berger Lahr Motion Control Berger Lahr offers a complete range of products and services for almost all automa tion tasks Motion Controllers All Motion Controllers from Berger Lahr are controllers with user programmable PLC and motion functions Programming is performed on the basis of Known standards in accordance with IEC 61131 3 and PLCopen Drives Berger Lahr offers a wide range of drive technology stepper motor DC brushless mo tor and AC servo drives Motors and drives are optimally matched to one another The booster is integrated in the motor in IcIA intelligent compact drives Linear motion The product range is supplemented by linear axes and axis combinations with spindle or toothed belt drive Qualified sales partners support customers all over the world from selecting the ap propriate products through to commissioning
63. mme can be changed over very easily For example it is possible to insert a block for edge rounding or tool radius correction in between the decoder and interpolator CNC programming independent of kinematics The entire CNC progamme can be created independently of the kinematics used The only block that has to be swapped over is the one that handles the transformation in order to change from a portal robot to a SCARA robot Selective Compliance Assem bly Robot Arm for example No fixed limited The number of axes or the update rate are only limited by the available computing power the fieldbus used and the available memory Catalogue Motion Controller Berger Lahr Motion Controller Berger Lahr Programming Programming system SoftMotion SoftMotion offers solutions for the following problems Processing machines with NC section Special machines with a high PLC proportion Automatic machines NC machines without NC programming on the controller Connection to PPS systems Production of variants Status dependent drive assignment Non standard transformations Non standard user interfaces SoftMotion offers the following components A block library with all function blocks for controlling motion as defined by the PLCopen user organisation This block library is particularly suitable for Master Slave axis control An NC block library offering everything from the interpolator to track pre proces sing in order to
64. module to be used 28 Catalogue Motion Controller Berger Lahr Motion Controller TLC6 Motion Controller with drive Technical data of TLC61 Motion Controller with drive booster for 3 phase stepper motors Electrical data TLC611 TLC612 Mains connection Mains voltage not variable mains filter integrated Vac 230 20 230 15 Mains voltage variable without mains filter Vac 155 20 115 15 230 20 230 15 Mains frequency Hz 47 63 Current consumption at 230 V 01 Current consumption at 115 V Inrush current Fuse protection external in 230 V Fuse protection external in 230 V lt 60 10 C or K characteristic or similar 10 C or K characteristic or similar Motor connection Nominal power at nominal current KW us 0 35 0 75 Rated current Arms O N Switching frequency kHz Max speed of rotation 3000 Motor cables Cable length lt 20 standard gt 20 m on request Shield connection H On both sides Cross section mm 1 5 24 Vpc system supply voltage PELV DIN 19240 reverse polarity protection 20 30 lt 2 Voltage range of the input Ripple of the input lt Se on gt Input current of the outputs without load lt 2 5 Digital inputs Reverse polarity protection no electrical isolation Number of inputs 18 of which 14 can be used as required Debounce time 700 1500 Max switching threshold low gt high 12
65. nd has displaced other LAN standards such as Token Ring FDDI and ARCNET For Berger Lahr Ethernet forms the basis of the TCP IP network protocol that permits data to be exchanged beyond local networks Ethernet in the OSI layer model CANopen is a communication protocol based on CAN Controller Area Network for the OSI layer 7 application layer that is chiefly used in automation engineering CANopen has been the responsibility of the CiA Organization CiA CAN in Automa tion since 1995 and has now been standardized in European Standard EN 50325 4 The communication protocol is based on the principle of a message distribution sys tem and thanks to its particular performance characteristics and the inexpensive pro tocol blocks permits a wide variety of innovative system solutions Important properties of CANopen e The data transmission rate depends on the length of a network cable 40 m at 1 Mbit s 1000 m at 50 kbit s etc e Inexpensive twisted pair 2 wire cable with terminating resistors e Object oriented messages broad and multitasking with acceptance check e Maximum data transmission rate 1 Mbit s e Very high data security HK 6 error detection and signalling automatic switch off of defective stations e Open system ISO 11898 and CiA DS 301 DS 405 PROFIBUS Process Field Bus is a recognised standard for fieldbus communication in automation engineering and was initially promoted by the German Federal Ministry for Re
66. nd strap to 24V machine bed Motor GND Additional enclosure grounding via PE terminal pin Analogue signal lines Ground shielding to unit via cable tie for example Encoder cable to M2 EMC measures and sub division of the control cabinet 36 Catalogue Motion Controller Berger Lahr Motion Controller Berger Lahr TLC6 Motion Controller with drive Mounting and installation Mechanical installation Installation in the control cabinet Motion Controllers and accessories such as ballast resistor and holding brake control lers must be securely mounted in the control cabinet and wired up in accordance with EMC regulations The control cabinet ventilation must be capable of evacuating the heat losses by the Motion Controller and its components as well as the ballast resistors Installation clearances The Motion Controller is equipped with a fan The ventilation openings must be kept clear to a distance of 70 mm at all times The connections of the Motion Controller are located on the bottom of the housing A space of 20 cm must be left under the Motion Controller so that the connections can be routed without kinking There is a ventilation element on the underside Do not remove the protective flap The Motion Controller must be installed vertically in order to guarantee protection against water TLC61 IP20
67. on Controller Berger Lahr Motion Controller Programming Programming system Block libraries Combinations of drives and Motion Controllers Drives Motion Controllers ATV31 Lexium 05 SD3 26 IclA IFe IclA IDS TLC4 TLC5 TLD ATV71 SD3 28 TLC6 TLC63 CANopen CANopen CANopen CANopen TLM2 CANopen CANopen Pulse direction CANopen Pulse direction CANopen Pulse direction Pulse direction The following table contains a list of block libraries and the function blocks for drives from Berger Lahr and Schneider Electric Please contact us for information about the block libraries for other Berger Lahr drives The function of the individual function blocks is explained briefly at the end Overview of function blocks Single axis function blocks For drives with interface CANopen Pulse direction Drive type ATV31 ATV71 Lexium 05 IclA IFe TLC4 TLC5 Lexium 05 SD3 28 TLC6 SD3 Ze IclA IDS TLD PLCopen blocks MC_Power Yes Yes Yes Yes Yes MC_ReadStatus Yes Yes Yes Yes Yes MC_ReadAxisError Yes Yes Yes Yes Yes MC_TouchProbe No Yes Yes Yes Yes MC_AbortTrigger No Yes Yes Yes Yes MC_ReadParameter Yes Yes Yes Yes Yes MC_ReadBoolParameter No No No No Yes MC_WriteParameter Yes Yes Yes Yes Yes MC_WriteBoolParameter No No No No Yes MC_ReadActualPosition No Yes Yes Yes Yes MC_ReadDigitallnput Yes Yes Yes Yes No MC_ReadDigitalOutput Yes Yes Yes Yes No MC_WriteDigita
68. or multiply the aforementioned interfaces Berger Lahr Catalogue Motion Controller 43 Programming Run time system TLCC_V3 44 Motion Controller Programming The Berger Lahr run time system TLCC_V3 has been specially developed for the TLCC and TLM2 Motion Controllers from Berger Lahr and provides the application programmer with function blocks for straightforward hardware configuration TLCC_V3 makes it possible to develop application programmes independent of hard ware and operating system User programmes written for the Berger Lahr TLCC Motion Controller for example can be run on the Berger Lahr TLM2 Motion Controller without modifications The run time system TLCC_V3 from Berger Lahr is based on the run time system CoDeSys SP CoDeSys SP is a software layer located between the application layer and the operating system layer CoDeSys SP provides necessary basic functions for user programmes for example e Reading and writing files e Transporting data via networks e Controlling input and output devices e Handling sorting and searching for data Control architecture Technical features e 32 different tasks with prioritization Handling of 32 kB retain variables e 13 MB free flash memory 64 MB RAM for applications e Handling of a CANopen stack for up to five independent CANopen masters each with 126 stations e Processing speed 1000 lines of IL code in 25 6 us Katalog Motion Controller Berger Lahr Mo
69. or content to be dis played in the instruction list Catalogue Motion Controller Berger Lahr Motion Controller Berger Lahr Programming Programming system Components run _string Start run String Stop IF NOT run THEN run NAVE RETURN DOO4sEND_ IF Tun string Stop Tun string Stop OO06 rot rot offset rot 252 o008 IF al 0 THEM Wral 0 yal i val offset yWal 0 bottom yal offset bottom 2 ELSE IFival 470 THEM xval al xVYal offs et xal 0 Debugging in CoDeSys Online change Online change makes it possible to make changes to the progamme whilst it is run ning on the controller In this case it is also possible to make changes to several blocks as well as variables and data types Power Flow In Power Flow the command lines and or networks that have been run within the last controller cycle are marked in colour This reduces the time needed to find out wheth er a particular code has been run at all In addition temporary values within the net work or element are displayed in the FBD and CFC editors The same applies to the accumulator content of blocks in the IL editor Trace recording In trace recording the sequence of variable values is logged during a particular peri od The values are written into a ring memory trace buffer When this ring memory is full the values are overwritten again beginning with the start of the memory It is possible to record a max
70. ore being loaded onto the controller Online functions The most important online functions are Breakpoints for tracking programming bugs e Sequence check for checking the progamme lines as they are run through Log book for chronological recording of user actions and internal procedures during an online session e Trace recording for true to cycle recording and display of variable sequences Monitoring of variables In online mode the current values of all variables visible on the screen are read out of the controller and displayed amp E Writing and forcing variables in the controller One or more variables are permanently set to user defined values In this case set ting takes place at the start and finish of a progamme cycle in the run time system forcing or once at the beginning of a progamme cycle writing a GELB lebt 340 lt 25s t1 34 10005 Sinus 529 0374 cosinus DAD OD Sinus 545 5985 Cosinus 529 0374 r1 0 byi 84 by 168 bys 252 bResult WIR Writing and forcing variables Debugging Progamme bugs can be located quickly by setting breakpoints and subsequently run ning through the progamme line by line In single cycle mode it is possible to track the sequence of changes within a complete cycle The sequence check function en ables progamme sections that have been run and depending on the editor used also additional information such as temporary values or the accumulat
71. pick amp place handling assembly and testing Applications that need a connection to a company network e Intelligent gateway e Reference movement e Manual mode e Peer to peer e Coordinated movements of several axes All Motion Controllers described in this catalogue can be programmed using the Ber ger Lahr programming system in accordance with IEC 61131 3 The programming system is available on CD ROM see page 46 The following interfaces can be used in order to transfer the user programmes onto the TLCC e RS 232 e Ethernet Drive interfaces CANopen max 126 drives User defined inputs outputs 32 16 Programming and operating interface Ethernet TCP IP RS232 Communication via OPC Ethernet TCP IP Fieldbus interface optional Profibus DP slave 1 Berger Lahr programming system Yes PLCopen single axis function blocks Yes PLCopen multi axis function blocks No NC editors No Cam profile editor No 1 other fieldbus interfaces on request Catalogue Motion Controller Berger Lahr Motion Controller Berger Lahr Q00000000 00000000 ge 5e se oe se se aje se 92 96 96 92 96 eg OOO0000 O0O0000000 DO DY TLCC Cell Controller Product description Overview of devices 1 24 V supply voltage 2 Ethernet 3 CAN IN OUT 4 16 outputs 5
72. programming PLCopen was founded in 1992 and has its headquarters in the Netherlands Advantages of Berger Lahr function blocks based on PLCopen e The PLCopen Organization supports IEC 61131 3 irrespective of the pro gramming tool e PLCopen is a worldwide organization with more than 100 sites in Europe the USA and Japan e All its members are active in process automation e t provides non proprietary function blocks Berger Lahr reduces the programming work required with PLCopen function blocks This applies in particular to complex motion functions e PLCopen blocks are available for each Berger Lahr drive in the Berger Lahr pro gramming system High performance of the function blocks because it is never the case that all lines are run in one cycle e By encapsulating internal status transitions and dealing with bugs in the function blocks Berger Lahr reduces the probability of errors during application programming Additional Berger Lahr block library The Berger Lahr block library contains additional function blocks for controlling Berger Lahr drives These are not yet described in the PLCopen standards SoftMotion block library The SoftMotion block library contains function blocks for programming highly synchro nous motion sequences for controllers with pulse direction CANsync or SERCOS drive interfaces CNC function blocks CNC function blocks are used for programming CNC specific functions 56 Catalogue Moti
73. r on the device and 0 5 m 62501447005 controller sides 15m 62501447015 3m 62501447030 5m 62501447050 With 15 pin sub D female connector on the device 0 5 m 62501452005 side other cable end open 145m 62501452015 3m 62501452030 5m 62501452050 RS422 C cable For connecting the TLC6e with RS422 C module 0 5 m 62501448005 with an incremental encoder 1 5m 62501482015 With 15 pin sub D connector on the device side encoder side open 3m 62501482030 5m 62501482050 Shield connection terminal For connecting the cable shield of a Twin Line 62501101400 cable with TLC6 70 Catalogue Motion Controller Berger Lahr Motion Controller Accessories For TLC6 Designation Description Order number ESIM C RS422 C cable For connecting the ESIM C module of a TLC6 0 5 m 62501453005 with the RS422 interface of another drive for con 4 5 m 62501453015 trolling a following axis With 15 pin sub D connector on both sides 3m 62501453030 ESIM C cable For connecting a TLC6e with ESIM C module with 0 5 m 62501449005 a higher level position controller or a following 15m 62501449015 axis or a following device With 15 pin sub D connector on the device side 62501449030 other cable end open 5m 62501449050 IBS C cable For connecting an INTERBUS S station with the 0 5 m 62501451005 Cable with 9 pin sub D connector and 9 pin sub D socket 3m 62501451030 5m 62501451050 Connector set for module slots M1 M4 Connector set for self prep
74. rection interfaces Mbaud 1 default setting 500 kbaud 126 Specification Number of interfaces Max switching voltage RS 422 gt TE gt Min residual voltage 3 lt 220 Max output current 16 Signals Pulse direction gate current control ready PWM pulse width modulation e Frequency of the signal kHz 15 625 e Resolution bit 8 256 steps Encoder interface Specification RS 422 Max frequency 1 Max cable length 30 Signal level Power supply for encoder 5 5 Profibus DP slave interface optional Specification Max baud rate EN 50170 Mbaud 12 Min baud rate kbaud 9 6 Cable specification Profibus cable preferably type A T j I N Digital inputs Short circuit protected filtered over voltage protection Number of inputs 32 freely useable Max input voltage Voc 30 Switching threshold low gt high Voc gt 10 Switching threshold high gt low Voc lt 5 Input resistance pull down to VM kQ 3 3 0 5 Debounce time us 500 Max cable length with 0 25 mm cross sectional area m 100 Digital outputs Short circuit protected over voltage protection Number of outputs 16 freely useable Max residual voltage at signal mode low mV 200 Max output voltage Voc 28 Max output current mA 500 Voltage drop when loaded with 500 mA Voc lt 2 16 Catalogue Motion Controller Berger Lahr Motion Controller TLM
75. roller Designation TL HMI Operating software TL CT Accessories For TLC6 Description Order number Twin Line Human Machine Interface for TLC6 62501101503 4 languages DE EN FR IT Ballast Resistor Controller TL BRC Ballast resistor Holding brake controller TL HBC Line filter Motor cable for 3 phase stepper motors Motor cable for AC synchronous servomotors Twin Line Control Tool for TLC6e 62501101803 4 languages DE EN FR IT Twin Line Ballast Resistor Controller for TLC63 62501101706 Ballast resistor for TLC63 in connection with the ballast resistor controller TL BRC BWG 250072 100 W 720 59060100001 BWG 250150 100 W 150 Q 59060100002 BWG 500072 200 W 72Q 59060100003 BWG 500150 200 W 150 Q 59060100004 For TLC6 Hu 62501101606 For TLC61 without integrated mains filter Mains filter for TLC611 350 W 59051100200 Mains filter for TLC612 700 W 62501101900 For connecting a 3 phase stepper motor with 3m 62501317003 eee A 5m 62501317005 3 x 1 5 mmf 2 x 1 mm motor side with 6 pin circular plug open on device side 62501317010 15 m 62501317015 20 m 62501317020 For connecting an AC synchronous servomotor with TLC63 Motor side with 12 pin circular plug open on device side shielded Note The wire diameter of the motor cable must be at least that of the mains power cable Other wise fuses on the supply side may not respond correctly in case of a faul
76. rrent position of the motion profile generator Reads the value of the current speed of the motion profile generator BL_ReadRefPositionInc BL_ReadActualMasterPosition BL_ReadActualMasterVelocity Reads the value of the current position of the motion profile generator in increments Reads the current position of the external encoder Reads the current speed of the external encoder BL_ReadActualPositionInc BL_ReadAnaloglnputs BL_ReadActualOffsetPosition BL_ReadActualOffsetVelocity Reads the current position of the motor in increments Reads the current voltages at the analogue inputs Reads the current nominal position of the motion profile generator during offset positioning in electronic gear mode Reads the current actual speed of the motion profile generator during offset positioning in elec tronic gear mode Write parameter BL_SetDriveRamp BL_ResetParameters Writes the steepness of the acceleration and deceleration ramp Resets the parameter to the factory setting BL_StoreParameters BL_ConfigurelO BL_ControllO BL_SetLimitSwitch Save all parameters in a non volatile memory EEPROM Configures the inputs outputs and enables them Progammes the inputs and outputs configured with the BL_ConfigurelO block as programma ble Activates deactivates the limit switches Activates the limit switches as normally closed or nor mally open contacts Motion BL_CurrentControl
77. rth PE in order to comply with the EMC Directive There is a pin for the protective conductor connection on the front of the SMC This pin is an M4 threaded pin with a length of 20 mm The SMC is mounted on a top hat rail A bracket for top rail mounting is supplied for this purpose The mounting position can be selected as required There are no mini mum clearance requirements Berger Lahr Catalogue Motion Controller 23 SMC Smart Motion Controller Motion Controller Order data Scope of delivery 0086200227001 e 1 Smart Motion Controller SMC e 1 matching connector for JP101 e 1 top hat rail section including 2 screws Installation instructions Smart Motion Controller SMC SMC120NCNNB8D Programming cable with RS232 RS485 adapter SMC129CPB003 0086300901001 Scope of delivery e RS232 RS485 adapter RS232 with 9 pin sub D connector R8485 with RJ45 connector e Programming cable 3 m The CD ROM contains e Installation files e Block libraries e Online help and documentation CD ROM with programming software 0062501102600 ACC4PACDS0001 XX 24 Catalogue Motion Controller Berger Lahr Motion Controller Berger Lahr TLC6 Motion Controller with drive Product description TLC6 Motion Controller with drive TLC6e are adaptable single axis Motion Controllers with integrated drive boosters for 3 phase stepper motors TLC61 or AC synchronous servomotors TLC63
78. ry Main memory e Main memory RAM MB 64 Memory for CoDeSys application flash MB 32 Application data RAM MB 13 Non volatile data of the application flash kB 32 Programme processing time Processor type Intel Pentium Il 266 MHz average proces us 25 6 sing time for 1000 lines of an IL code Mechanical data Weight Index of protection to DIN EN 60529 2000 09 Ambient conditions Ambient temperature Transport and storage temperature kg 2 0 IP20 C 0 50 40 70 Rel humidity 15 85 no condensation permitted Max installation altitude 10 Catalogue Motion Controller Berger Lahr Motion Controller TLCC Cell Controller Dimensional drawings TLCC dimensional drawing Berger Lahr Catalogue Motion Controller 11 TLCC Cell Controller Mounting and installation Motion Controller EMC installation is essential for compliance with the specified limit values Better re sults can be achieved using the following measures depending on the application e Connecting mains reactors ahead in series Specifications for current harmonics are available on request e Connecting mains filter ahead in series in particular to comply with limit values for the first environment living area category C2 e Installation in an enclosed control cabinet with 15 dB attenuation of the emitted Use shielded network cables only 24V GND
79. s and objects for example e Min max limit values e Colour Transfer e Weighting XBT L1001M can be used for configuring function keys by means of which commands can be issued to the machine or application pages called up In addition the PLC sym bol databases PL7 Concept or Unity are imported with fully graphic control panels e IBM compatible PC with Pentium II processor 350 MHz e 30 MB free hard disk space e 64 MB RAM with Windows 98 operating system e 128 MB RAM with Windows 2000 or XP operating system XBTL1001M Configuration software XBT L1001M Scope of delivery e CD ROM with software for Windows 98 2000 or XP Multilingual documentation de en fr it es e Connection cable 66 Catalogue Motion Controller Berger Lahr Motion Controller Order data Designation License type Accessories Terminals for TLCC and TLM2 Configuration software Vijeo Designer Description The configuration software Vijeo Designer enables dialog applications to be develo ped for controlling automation systems for control panels in the Magelis XBT GT se ries The software Vijeo Designer runs on an IBM compatible PC with the MS Windows 98 2000 and XP operating system Structure of the configuration software Vijeo Designer 1 Navigator 2 Information 3 Object properties 4 Object list 5 Reports 6 Library of animated objects Configuration with Vijeo Designer The configuration
80. s in electronic gear oper ating mode RS485 C for serial data exchange The RS485 C module is an asynchronous 4 wire interface with RS485 level The module provides a short circuit protected voltage to supply the Berger Lahr MP923 interface converter RS232 to RS485 MODB C for connection to ModBus The MODB C is an asynchronous 4 wire interface with RS485 level The user can configure ModBus ASCII or ModBus RTU alternatively Catalogue Motion Controller 27 TLC6 Motion Controller with drive Motion Controller Product description PBDP C for connection to Profibus DP The PBDP C module uses the Profibus DP as a fast cyclical communication bus The module has a 2 wire interface with RS485 level CAN C for connection to CAN bus The CAN C module works via the CAN bus The CAN bus is a serial sensor actuator bus The module has a 2 wire connection for the CAN low and CAN high cables The user can configure additional profiles alternatively Berger Lahr profile CANopen DS402 profile and DeviceNet IBS C for connection to Interbus S The IBS C module works via the Interbus The Interbus is a sensor actuator bus that operates according to the shift register principle SAM C safety module The SAM C Safety Monitor Module adds integrated safety functions to the Motion Controller for protection of personnel e g by safe operation stop and reduced speed Prerequisite with TLC61 The M2 slot must have the RM C module fitted in order for this
81. search and Technology Berger Lahr uses PROFIBUS DP DP Decentralized Periphals because it provides many diagnostic possibilities as standard The most important area of application for PROFIBUS DP is networking several con trollers together distributed intelligence PROFIBUS permits data transmission rates of up to 12 Mbit s on twisted 2 wire cables Catalogue Motion Controller Berger Lahr Motion Controller Interfaces for communication Important properties of Profibus DP e Maximum length of a PROFIBUS With electrical structure up to 9 6 km with optical structure up to 90 km e The data transmission rate depends on the length of a network cable and the number of repeaters signal regenerators e 93 75 kbit s with 9 6 km and 7 repeaters e 1 5 Mbit s with 1 2 km and 4 repeaters e 1 5 Mbit s with 200 m without repeaters 12 Mbit s with 100 m without repeaters e Electrical structure with shielded twisted 2 wire cable and RS485 interface e Bus access using token passing procedure Master forwarding in the logical token ring with subordinate master slave access polling normal mode with only one master and polling e Maximum 32 Profibus DP slaves on one master In general serial port refers to a digital input and output of a computer or a peripheral device Serial data transmission involves bits being sent one after the other along a single line On the TLCC and TLM2 the RS232 interface cannot only communicate with the periph
82. software Vijeo Designer makes it quick and easy to create operator dialog projects Vijeo Designer is extremely user friendly because of its six configu rable windows e Navigator e Object properties e Object list Library of animated graphic objects e Information Reports In addition this software offers extensive tools for managing applications e Development of projects consisting of one or more applications Cross references of variables e Documentation of block diagrams e Simulation mode for testing the application in the design office Vijeo Designer can be used for configuring function keys by means of which com mands can be issued to the machine or application pages called up In addition the PLC symbol databases PL7 Concept or Unity Pro are imported with fully graphic con trol panels Minimum requirements e IBM compatible PC with Pentium III processor 800 MHz e 800 MB free hard disk space e 256 MB RAM with Windows 2000 or XP Professional operating system Transmission cable Order number Configuration software Individual station Vijeo Designer CD ROM with e Software e User s manual e Multimedia training de en 1 station PC side Terminal side Magelis XBT 1 VJD SND TGS V44M USB XBT G GT11 VJD SUD TGS V44M VJD SUD TGA V44M XBT GT2 GT73 Magelis Smart iPC Magelis Compact iPC Group license 3 stations VJD GND TGS V44M Communication protocols Team license 10 stations
83. switch on the front of the Motion Controller Ethernet interface The Ethernet interface is used for remote control of the Motion Controller as well as for transmission or debugging of user programmes Amongst other functions this in cludes updating the operating system and exchanging process data with higher level host systems via OPC RS422 encoder interface The TLM2 is equipped with an RS422 encoder interface for providing the guidance parameters via an incremental encoder Profibus DP slave interface optional On request the TLM2 can be equipped with a Profibus DP interface Catalogue Motion Controller 15 TLM2 Multi Axis Motion Controller Technical data Electrical data Electrical power supply Motion Controller PELV power supply unit in accordance with DIN 19240 with reverse polarity pro tection Input voltage Voc 21 28 Minimum current consumption mA 1000 Output voltage Voc 5 5 Overcurrent protection A gt 10 on the output side 5 V Max mains failure bridging ms 10 RS 232 interface Max baud rate kbaud 115 Max cable length Ethernet interface Wu RJ45 female connector Ethernet TCP IP protocol programming or communication with the host system CANopen interface CiA DS 301 V4 02 CANopen application layer and communication profile CiA DS 405 V2 0 CANopen interface and device profile for IEC 61131 3 pro grammable devices Max baud rate Max number of slaves Pulse di
84. t for TEC632 S 3m 62501322003 CEO sole nM 5m 62501322005 10m 62501322010 15m 62501322015 20m 62501322020 gt 20 m On request for TLC634 and TLC636 3 m 62501319003 3 x 2 5 mm 2 x 1 mm 5m 62501319005 10m 62501319010 15m 62501319015 20m 62501319020 gt 20 m On request for TLC638 3 m 62501320003 3 x 4 mm 2 x 1mm 5m 62501320005 10m 62501320010 15m 62501320015 20m 62501320020 Rotary encoder cable for 3 phase stepper motors gt 20 m On request For connecting a 3 phase stepper motor with the 13 m 62501440003 5 x 2 x 0 25 mm 1 x 2 x 0 5 mm5 motor side with 12 pin round encoder plug device side with 10 m 62501440010 15 pin sub D plug with lateral cable output shiel 115 m 62501440015 ded 20 m 62501440020 Berger Lahr Catalogue Motion Controller 69 Accessories Motion Controller For TLC6 Designation Description Order number Rotary encoder cable for AC synchronous servomo For connecting an AC synchronous servomotor 3 m 62501439003 tors T RESO C or the HIFA C module of the 62501439005 5 x 2 x 0 25 mm 1x 2x0 5 mm2 motor side 10 M 62501439010 with 12 pin round encoder plug device side with 62501439015 erc sub D plug with lateral cable output shiel 20 m 62501439020 gt 20 m On request PC interface cable RS232 The TLC6 is connected to the PC for operation 62501441050 and programming via
85. t mode BL_DataSetPTP Writes a data set for point to point mode BL_DataSetVelocity BL_DataSetRamp Writes a data set for profile velocity mode Defines acceleration and deceleration ramps for data set mode BL_DataSetType BL_DataSetChange Berger Lahr Selects whether the data set data for a movement is used in point to point or profile velocity mode Switches to another data set during movement in data set mode the new data set being per formed immediately Catalogue Motion Controller 61 Programming Programming system Block libraries Multi axis function blocks PLCopen blocks Motion Controller MC_CamTableSelect MC_Camlin Drives with Sercos or pulse direction interface use polynomial cam profiles The polynomial cam profiles are calculated by SoftMotion on the controller The MC_CamTableSelect function block is used for transferring these cam profiles to the drive in order to use the cam profile for a con nection A cam profile connection to a master axis is started by a selected cam profile The position of the cam profile in relation to the master or slave position is set by offsets Expansion factors make it possible to adapt the cam profile dimensions at any time The cam profile can also be changed at any time even when a connection is active This involves the currently active cam profile being brought to completion and then the changeover to the new cam profile takes pl
86. tant than speed this makes it possible to avoid corners at which of course it is necessary to decelerate to speed 0 The block is very similar to the SMC_SmoothPath block The block rounds off corners that occur at the intersection of two straight lines replacing them with arcs SMC_CheckVelocities SMC__LimitCircularVelocities SMC_Interpolator SMC_ShowCNCREF This block checks the speeds of the individual track segment It must always be called directly before the interpolator in case the OutQueue was generated in the IEC progamme e g by SMC_NCDecoder instead of by the editor The main task of this function is to investigate the track for dog legs and to reduce the speed to O there This block checks the individual elements of the OutQueue and limits the track speeds of circular elements depending on their radii The SMC_Interpolator block has the task of transferring an existing uninterrupted track described by GEOINFO objects into discrete track points with consideration for a specified pro file velocity and time grid These position specifications are then normally transformed by the IEC progamme e g into the drive axis positions and sent to the drives via the drive interface This function block SM_CNCDiagnostic lib can display the first 10 lines of an NC progamme in text form DIN 66025 The NC progamme must be in form of an SMC_CNC_REF data structure defined in SM_DriveBasic lib An array of string is crea
87. ted as the output cnostr containing the text lines The VISU_SMC_ShowCNCRef visualization template can display these outputs SMC_ShowQueue SMC_ReadNCQueue SMC_ReadNCFile SMC_VARLIST_Struktur Berger Lahr This function block SM_CNCDiagnostic lib provides the first 10 SMC_Geolnfo objects of an OutQueue in the form of an ARRAY OF POINTER TO SMC_Geolnfo Some important elements of this can be displayed by the VISU_SMC_ShowQueue visualization template These include Object number line number object type start position X Y Z end position X Y Z nominal speed and final speed This block reads an OutQueue file from the file system of the controller and provides and Out Queue structure that is typically processed by the interpolator The OutQueue file must have been generated by the CNC editor This block reads an NC ASCII file from the file system of the controller in order to provide it to the SMC_NCDecoder block This enables an NC progamme to be read in and converted during run time IEC 1131 3 does not provide a way of obtaining the value of the associated variable from the symbolic variable name that exists as a string for example However this possibility is necessary in order to use the variable functions that are provided to the user with the progamme variable translation variant when reading in the CNC progamme via a file The SMS_VARLIST structure is therefore used as a solution Catalogue Motion Control
88. ther devices An RS485 RS232 adapter is available as an accessory together with the programming cable Inputs and Outputs The device has eight freely useable bidirectional inputs outputs Additional UC sub assemblies can be controlled via CANopen Berger Lahr Catalogue Motion Controller 21 SMC Smart Motion Controller Technical data Electrical data Electrical power supply Motion Controller Reverse polarity protection il Voltage range DC 20 28 Nominal supply voltage Voc 24 Nominal value of current consumption mA 80 Minimum current consumption RS 485 interface Baud rate CANopen fieldbus interface Transfer rate 3 Programming interface RJ45 female connector Programming cable with RS232 adaptor available as an accessory baud lt 115 200 Communication interface with slave devices CANopen DS301 and DS405 Level of signal inputs outputs according to ISO 11898 Electrically isolated kbit s 125 250 500 1000 Max number of slaves Digital inputs CA N 8 freely useable bidirectional inputs outputs optionally as input or output one digital input can be configured as counter input No electrical isolation short circuit proof S gt Debounce time 200 Max switching threshold low gt high Voc 12 24 Max switching threshold high gt low Voc lt 5 Input resistance pull down to VM Limit frequency counter input Q 3 1 0 5 kHz 5 i Max cable length wit
89. tion Controller Berger Lahr Programming Operating system RT Linux Description The operating system is the software that makes it possible to use a computer The operating system controls hardware components such as the memory hard disk or input output devices In addition it controls the execution of programmes RT Linux expands the Linux operating system into a real time operating system RT Linux was originally developed by Professor Victor Yodaiken and his student Michael Barabanov at the University of New Mexico A real time operating system also referred to as RTOS real time operating system is an operating system with additional real time functions for complying with time con ditions and the predictability of process behaviour Most applications must have real time behaviour The software must respond to the procedures within a defined time frame otherwise the application does not function or the quality is unsatisfactory RT Linux is excellently suited to fulfilling unusually high real time requirements The current limits of what is technically feasible based on Intel architecture are one or two microseconds of inaccuracy jitter in periodic tasks and maximum 25 microseconds response time during interrupt handling Linux is a freely available operating system The source code of its core is covered by the GNU General Public License which means it is accessible to everybody The glo bal availability of Linux has me
90. tputs 7 of which 5 can be used as required Accepts inductive load mH W 150 11 DC voltage V lt 30 Switching current mA lt 400 Voltage drop at 400 mA V lt 1 analogue signal input Voltage range V 10 10 Input resistance kQ 5 Resolution bit 10 Main memory available for use by the user programme Non volatile memory for the user programme 256 Non volatile memory for data flash PROM Non volatile memory for power fail data retain 8 100 Volatile memory for data Mechanical data Weight 128 2 7 IP20 8 0 IP54 Degree of protection according to DIN EN 60529 1991 Ambient conditions Ambient temperature IP20 TLC6s IP54 TLC6P 0 50 Transport and storage temperature 40 70 Rel humidity 2 Installation altitude without derating UL 508C approval 1 Optional 115 V 20 115 V 10 2 No condensation permitted 30 15 85 m above sea lt 1000 level H The limit values are listed in the device documentation Catalogue Motion Controller Berger Lahr Motion Controller TLC6 Motion Controller with drive Technical data of micro modules optional Technical data of micro modules optional IOM C Number of inputs outputs 2 inputs each 2 A Digital signal inputs e DC voltage Uhigh Reverse polarity protection no electrical isolation debounced V 124 50 V lt e DC voltage Ulow 5 Currentat 24 V mA lt 7
91. uchscreen 8 x 6 Analogue touchscreen resolution 1024 x 1024 pixels and 6 function keys Memory Application 16 MB Backup 512 kB e Supplement J Compact Flash Card 128 MB 1 GB Electrical power supply 24 Voc Interfaces Serial port USB Ethernet External dimensions Terminal Screen diagonals Resolution Display type Number of colors Backlighting Type e Service life Data input Memory Application Backup Interfaces Serial port USB Ethernet Inputs outputs COM1 RJ45 COM1 9 pin sub D RS232C 422 RS485 232C COM2 RJ45 RS485 Nos interface type A master Re port 10 1 port Base T 10 100 Base T 130 x 104 x 41 mm 168 x 135 x 60 mm 1 port 10 100 Base T XBT XBT XBT XBT XBT XBT XBT XBT XBT GT5340 GT4230 GT4330 GT4340 GT5230 GT5330 GT6330 GT6340 GT7340 XBT GT4330 XBT GT5330 XBT GT6330 15 inch XGA TFT colour 65536 CFL 50000 h Analogue touchscreen resolution 1024 x 1024 pixel 32 MB 512 kB COM1 9 pin sub D RS232C 422 COM2 RJ45 RS485 1 interface type A master 1 port 10 100 Base T 3 digital outputs 1 digital input 1 audio output 2 interfaces type A master External dimensions Approvals Degree of protection according to IEC 60529 Front panel Back panel Visualization software Berger Lahr 271 x 213 x 57 mm 313 x 239 x 56 mm 395 x 239 x 56 mm 60 mm CE cULus CSA UL class 1 area 2 T4A or T5 215 x 170 x60 mm Bebe IP65 Nema 4
92. ulse direction CANopen max 126 drives User defined inputs outputs 32 16 Programming and operating interface Ethernet TCP IP RS232 Communication via OPC Ethernet TCP IP Fieldbus interface optional Profibus DP slave Berger Lahr programming system Yes PLCopen single axis function blocks Yes PLCopen multi axis function blocks Yes NC editors Yes Cam profile editor Yes 1 other fieldbus interfaces on request Catalogue Motion Controller Berger Lahr Motion Controller Gei CO Gi 0066868669 Berger Lahr TLM2 Multi Axis Motion Controller Product description Overview of devices 1 24 V supply voltage 2 RS 232 serial interface 3 Changeover RS232 Programming communication 4 Profibus DP slave interface optional 5 7 segment display 6 Ethernet 7 RS422 encoder 8 CAN 9 16 outputs 10 32 Inputs 11 Axis 4 12 Axis 3 13 Axis 2 14 Axis 1 Interfaces Pulse direction interfaces The TLM2 has four mutually independent pulse direction interfaces for implementing highly synchronous movements CANopen interface The TLM2 is a CANopen master and controls a maximum of 126 slave devices RS 232 interface The RS232 interface is used for transmitting application programmes to the Motion Controller In addition the RS232 interface can be used as a communications inter face to other devices e g terminals It is possible to changeover between the two functions using a
93. y from adjacent devices or walls Installation clearances dimensions in mm TLM2 TLM 271TCNA4PE version 3 0086505000106 TLM2 with Profibus DP slave interface TLM 271TCPA4PE version 3 with Profibus slave 0086505000105 Description Encoder adapter cable 15 pin sub D female 9 pin sub D male 0 3 m 0086300901000 ACC2RKBBDE003 TLCC TLM connector set Scope of delivery 0086300901002 ACC3CS004NNNN e 1 sub D adapter with CAN terminating resistor 6 plug connectors CD ROM with programming software The CD ROM contains 0062501102600 ACC4PACDS0001XX Installation files e Block libraries e Online help and documentation Note Information about additional accessories can be found from page 64 onwards Berger Lahr Catalogue Motion Controller 19 SMC Smart Motion Controller Motion Controller Product description SMC Smart Motion Controller The SMC is a Motion Controller with an integrated software PLC for performing simple motion sequences As CANopen master the controller can control up to 32 drives or slave devices e g UO sub assemblies Motion and control functions for automated production cells Applications that require coordinated or independent movements for example Format adjustments Material feed Measure Installation Packaging manufacture Pick amp place Check Feed

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