Motion Control SolutionsAlways on target – with zub!

zubzub machine control AGBuzibachstrasse 31, CH-6023 Rothenburg, SwitzerlandPhone +41 41 54150-40 · Fax +41 41 54150-49

info@zub.ch · www.zub.ch

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Application range

Matrix switch, FERAG AG

Labeling machine

Flying Saw

Adhesive dispensing

Positioning Low cost mechanical stop adjustment

X/Y/Z-positioning of probes

Work-piece and tool positioning in machines

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

Synchronous Feeding Synchronous feeding of components

(e.g. supplements, CDs, labels)

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

Labeling Synchronization of label ejection and goods

Synchronous feeding with marker correction and online CAM profi ling

Sawing Shaping products in a running process fl ow

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

Path Control Recording of seam geometries for the automated

application of adhesives with portal robots

Casting and foam application

Engraving and milling

Application of adhesives and sealants

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Conveyor

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Application range

Milling machine

Rewinder

Metering machine

Multichannel pipette

Theater Applications Time- and path-synchronous positioning

Arbitrary cam trips

SIL-3 reliability for point hoists, platforms and all other drive systems

Safe speed, safe position, safe CAM, safe brake tests …

Measuring machines Highly-accurate position recording in tool testing

devices

Absolute precision in the micrometre range

Fast and efficient data recording of tool positions

Winding Electronic servo traversing gear: synchronization

of the traverse with the speed of material

Automatic tension control

Dosing High-precision flow control of pumps

Flow rate and dose control of analytic and infusion pumps

Control of automated pipette systems

Medical technology Analysis equipment and laboratory handling

Pipetting and dosing

Laboratory automation

Wire rope hoist syst, Trifolion Echternach

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Application range

High bay racking warehouse with shuttle

Lightweight and collaborative robots

Autonomous transport robots

Harvesting assistant checks grape growth

Robotic Applications Delta robots: Ultra-precise micro assembly

with miniaturized motors in micro, nano and bio technology.

Automated guided vehicle (AGV): Control of auto nomous and mobile robots for service, transport and logistical tasks and integration of the safety sensor system.

Multi-axis and autonomous lightweight robots (LBR): Cost-efficient and easy automation of manual activities such as loading machines, installing devices, sorting small parts (torque/force control, etc.), measuring tasks.

Collaborative robots (Cobot): Smart control solutions for professional human-machine interactions.

SSRR (Safety, Security and Rescue Robotics): Autonomous mobile robotic vehicles for moni-toring critical infrastructure and pipelines, for gas detection and automatic leak searching.

Agricultur robots: OEM control systems including software modules such as torque/force control for (e.g.) autonomous sowing, harvesting, fertilizing, pest control, irrigation, etc.

Storage / Commissioning Cart positioning in high-bay warehouses

or storage systems (e.g. pharmacies)

Positioning with on-the-fly target adaptation

Jerk-limited acceleration and braking ramps

Automatic optimization of the travel paths

Commissioning, APOSTORE GmbH

Shuttles for High Bay Racking Warehouse Multi-axis control system for shuttles in high bay

racking warehouse

Integration of analysis of various sensor systems such as safety and proximity sensors

Connection of various communication interfaces to the host system (EtherCAT, ProfiNET, etc.)

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Free programmability Standard protocols and free programmability

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

Application library Readymade standard solutions for various machine types.

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

– Hardware: PC, 16-/32-Bit µC, DSP

– Multi-processor support

– TwinCAT3 profile generator

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

– Motor technologies: Servo, stepper and asynchronous motors

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

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

Motion Control features Positioning, synchronization (Speed ~, Position ~, Marker ~) CAM profiling, jerk limitation, path control, current control, torque control, support of various kinematics, coordinate transformations

Interactive graphic editors CAM, Array, and Path-Editor

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

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

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

Motion Control Library

License-free for all zub control systems.Under license for use in control systems from other manu-facturers or other proprietary control systems.

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

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

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

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

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

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

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

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

The first tests are possible within just a few days.

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

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

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

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Programmability Yes, development tool included

Motion Control Library Integrated, license free

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

Motion Control features Positioning, Synchronization, CAM profi ling

Positioning control cycle 1 kHz (faster possible depending on customer)

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

Plug & Play functions DS402 slave / master

Supply voltages 24 V

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

Feedback input 1 (incremental, differential)

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

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

Housing DIN rail moduleor compact housing with rear-panel mounting

Connector type Sockets and plugs

From series requirement of 500 pieces onwards

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

Master MACSHigh-performance motion control module for controlling intelligent drives and for the synchronization up to 32 axes

Industrie 4.0:

Standards and norms like Ether-CAT and PLCopen Motion Control as well as a standardized pro-gramming language enable the harmonization and networking of the different communication channels via the MasterMACS.

Thanks to an integrated Web server, users can log in with their data and internally intercon-nect with one another by Web interface.

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Programmability Yes, development tool included

Motion Control Library Integrated, license free

Modes of operation Standalone control (possible without PLC/PC) CANopen slave or master USB and Ethernet for PC, PLC or visualization

Motion Control features Positioning, Synchronization, CAM profiling

Positioning control cycle 1 kHz, from 1 ms cycle time

PLC or PC networking CANbus, Ethernet, USB

Plug & Play functions DS402 slave / master

Supply voltages 24 V

Servo / FC control CAN, Ethernet Optional Analog 1: ±10 V analog setpoint

Feedback inputs 1 incremental, differentiell

Digital I/O 16/14

Analog I/O 6 analog inputs; option: 1/3 inputs/outputs;

Interfaces USB, Ethernet, CANbus master and slave functionality

Housing Top-hat rail module or compact housing with rear wall installation

Connector type Sockets and plugs

From production requirement of 500 units

Specific interfaces and connector types on request.

MiniMACSLow-cost controller for positioning and synchronizing 1 to 3 axes.

Low price – full

performance

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Prozessdatenerfassungund -verwaltungAnlagenvisualisierung

Servoverstärker /Frequenzumrichter

Antriebe & Positionsgeber

Sensoren-/Aktoren-Ankopplung

Prozess-Steuerung

Ethernet TCP/IP

Motion Control Modul inkl. Endstufen

Motion ControlModule

Eth

erC

AT

EtherCAT

Lagegeber-SignalLagegeber-Signal

MACS5

Power

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MACS5 Motion Control Modulebieten maximale Funktionalität bei reduzierten Systemkosten!

MACS5-AMP

*1)

*2)

*1) MACS5 und MACS5-AMP sind EtherCAT Slaves der SPS; alternative Interface sind CAN, Ethernet, USB.*2) MACS5 ist EtherCAT Master der Antriebe und I/Os; alternative Interface sind CANopen oder ±10V*3) Bis zu 6 x bürstenbehaftete oder 4 x bürstenlose Motoren je MACS5-AMP

±10 VCANopenEtherCAT

Power

*3)

MACS5 and MACS5-Compact1 to 6 (3) axes motion control unit, standalone or usable with PLC/PCfor servo amplifi ers and frequency converters

Programmability Yes, development tool included

Motion Control Library Integrated, license free

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

Motion Control features Positioning, Synchronization, CAM profi ling

Axes MACS5: 1 to 6; MACS5-Compact: 1 to 3

Positioning control cycle 1 kHz, 1 ms cycle time; can be confi gured

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

Plug & Play functions DS402 slave / master

Supply voltages 24 V

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

Feedback inputs MACS5: 6 (incremental, SinCos, SSI), [see §]MACS5-Compact: 3 (incremental, SinCos, SSI)

Digital and analog I/O Digital: 16/8(10/6); Analog: 6/0. opt. alternative 1/3

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

Housing DIN rail module

Connector type Tension spring clamp

From prod. req. of 500 units Specifi c interfaces and connector types on request.

1 to 6 (3) axes motion control unit, standalone or usable with PLC/PC

Motion Control Module with integrated amplifi ers

Data acquisitionData processingData visualization

Servo amplifi ers Frequency converters

Drives & Encoders

Sensors / Actuator links

Position encoder signals

MACS5 EtherCAT-Slave

Position encoder signals

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

Programmability Yes, development tool included

Motion Control library Integrated, license free

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

Motion control features PositioningSynchronizationCAM profi ling

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

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

Plug & Play functions DS402 slave / master

Supply voltages 24 V, 12-50 V

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

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

MACS5-AMP2 = 6 x 10 A/30 A

Servo / FC control CAN, EtherCATOptional: ±10 V

Feedback inputs 6 (incremental, SinCos, SSI)

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

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

Housing DIN rail module

Connector type Tension spring clamp, sockets and plugs

From series requirement of 500 pieces onwards:

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

11www.zub.ch

Programmability Yes, development tool included

Motion Control Library Integrated, license free

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

Motion Control features PositioningSynchronizationCAM profi ling

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

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

Plug & Play functions DS402 slave / master

Supply voltages 24 V, 12-50 V

Integrated amplifi ers 3 x DC or 2 x EC or 1 stepper or mixed operation

Amplifi er Icont / Ipeak 3 x 4 A/8 A

Servo / FC control CANOptional: ±10 V

Feedback inputs 6 (incremental, SinCos, SSI)

Digital I/O 16/8

Analog I/O MACS5-AMP3X = 6/0, opt. 1/3

Interfaces CAN master, CAN slave, USB, Ethernet

Housing Full metal compact module

Connector type DSUB, RJ45, Molex

From series requirement of 500 pieces onwards:

Specifi c interfaces (Ethernet, EtherCAT, Profi bus, Profi net, Powerlink, Modbus, Sercos), connector types, and amplifi er design on request.

MACS5-AMP3 and MACS5-AMP3X3-axis motion control unit with integrated amplifi ers for brush-type and brushless motors

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

Programmability Yes, development tool included

Motion Control library Integrated, license free

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

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

PLC or PC networking According to specification

Plug & play functions According to specification

Integrated amplifiers According to specification

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

Motor types Brush-type, brushless, stepper

Amplifier Icont / Ipeak According to specification

Feedback inputs According to specification

Servo / FC control CAN, EtherCAT, ±10 V

Digital and analog I/O According to specification

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

Housing / Connector types According to specification

Example:

Compact special solution with special functions – cost-optimized for production requirement.

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Areas of application – Theater applications, such as stageand lighting control systems

– Machine control systems with user intervention– Factory automation with safety requirements– Conveyor vehicles/rack automation– Crane and hoist applications

Motion Control Library Integrated, license-free

Supported modes EN ISO 13849-1EN/IEC 60204-1EN/IEC 61800-5-2

Motion Control functions Positioning, synchronization,CAM profi ling

Monitoring of the axes Double monitoring of the axes through different systems:

- Speeds- Position-dependent speeds- CAM and rail curves

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

zub Safety Drive ConceptCertifi ed software for applications with high accordingto SIL-3 standard

Example:

Confi guration with MACS5, MCO and Danfoss frequency converter.

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Adrian Küng, dipl. Elektroingenieur FH

Hardware and software development and control technology for motion control are my special fi elds. As an electrical engineer, I bring a high level of expertise in drive systems for my duties as hardware & software developer.

Dr. Uwe Oeftiger, CEO

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

Roman Berger, MBA & Eng.

Our engineers have a broad and deep knowledge of drive technology. That’s why we can address our customers’ application-specific requirements and requests even while preparing an offer.

Kerstin Bieler, Dipl.-Kfm.

As Head of Accounting, Purchasing, and Order Pro-cessing, I’m available for any questions about orders, deliveries or invoices.We’re a team both internally and to the outside world, and we’re all pursuing a common goal: satisfied customers!

Ye Schacher, Assistant Sales Order Processing

We always put our customers first. Their desires have the highest priority for me. My aim is therefore to provide top-notch service, from offer and order confirmation to deadline tracking and shipping docu-mentation.

Joël Koch, Electronics Engineer

Broad and solid specialist knowledge as well as expe-rience is also a prerequisite for quality control. I ensure the quality of our fi nished products and services by the systematic supervision of quality throughout the maufacturing process, from incoming goods through development to fi nal inspection.

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Josef Cupic, Maschinen-Ing. MSc

Development of software and control algorithms are my special fields. Contact with our customers also enables me to take into account and implement spe-cific requirements.I am also pleased to answer your technical questions about Danfoss frequency converter.

Dieter Bieler, Dipl.-Math.

Our goal is the development of optimal drive solutions - efficient, cost-effective and sustainable. And we put over 30 years of experience in drive engineering to achieve this goal.

Team performance is the result of both individual per-formance and collective work results.

Daniel Haslimann, Dipl-Ing.

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

Matthias Kamber, Dipl-Ing.

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

Elias Dönni, MSc. Electrical Engineering & IT

My special areas of power electronics and control engineering offer optimal foundations for my duties as a hardware & software developer. We develop inno-vative solutions in an application-oriented way, geared to our customers’ specific requests.

Peter Kuster, Electronics Engineer

As an electronics engineer and a long-term employee of zub AG, I have broad expertise in drive technology. My tasks range from prototype construction to inco-ming goods inspection, right up to final production.

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Product code

No.

of a

xes

Enc

od

er 2)

Dig

ital

I/O

Ana

log

I/O Interfaces /

Mode of operation

Amplifi ers

No.

ofl

Supp

ly

Con

t./pe

ak

curr

ent

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

MACS5 1 - 6 1 - 6(A, C, D, E) 16/8 6/0

opt.1/3

EtherCAT-Slave/-Master, 2 x CAN,

Ethernet, USB, RS232

– – – MACS5-Compact 1 - 3 1 - 3

(A, C, D, E) 10/6

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

MACS5-AMP1 MACS5-AMP2

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

6/0opt.1/3

EtherCAT-Slave/-Master, 2 x CAN,

Ethernet, USB, RS232

6 DCor

4 ECoder 4)

12-50 V2/10 A

10/30 A

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

MACS5-AMP3

3

6(A, C, E)

8/4

– USB, EthernetCAN-Slave/-

Masteropt.: weitere ³)

3 DCor

2 ECoder 5)

12-50 V 4/8 AMACS5-AMP3X 6

(A, C, D, E)

6/0opt.1/3

MasterMACS: High performance motion control modeule for the control of intelligent drives and synchronization of multiple axes 3)

Master MACS 32 1)1 (A)

32 (F)

6/4, bus

and 7)

via termi-nals 7)

EtherCAT-Slave/- Master, 2 x CAN,

Ethernet, USB, RS232, RS485

– – –

Mini MACS: Low-cost controller for positioning and synchronizing1 to 3 axes. 3)

MiniMACS 1 - 3 1 (A) 16/146/0opt.1/3

USB, EthernetCAN-Slave/

Master– – –

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

DSA-E4-6o/81 1 (A, B)

8/2 2/0 CANopen-Slaveopt.: another 1

9-60 V 6)/50 ADSA-E2 4/1 1/0 10-60 V 25/50 A

1) Up to 32 axes, confi gurable.2) Supported encoder types: A = Incremental, B = Hall sensors, C = SinCos, D = SSI,

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

MACSfor brush-type and brushless motors

zub

There are even more drives here:

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2018

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Your Motion Control Experts

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