Stober MC6 User manual

MC6
Manual
442461.0307/2015en

ID 442461.03 2WE KEEP THINGS MOVING
Table of contents
Manual MC6
Table of contents
1 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .4
1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Further documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Directives and norms .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.5 Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .7
2.1 Operation in accordance with its intended use . . . . . . . . . . . . . . 7
2.2 Component part of the product . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.5 System security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.6 Disposal .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.7 Presentation of notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . 8
3 The Motion Controller MC6 ... . . . . . . . . . . . . . . . . . . . . . .. . . . .9
3.1 Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2 Type designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3 Control and visualization software .. . . . . . . . . . . . . . . . . . . . . . 12
3.3.1 "Motion" software option . . . . . . . . . . . . . . . . . . . . . . 12
3.3.2 "Visualization" software option . . . . . . . . . . . . . . . . . . 13
3.4 Combinable drive controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.5 Measures for data security . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.6 Dual-use goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
4.1 Device features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.1.1 MC6xx0 Atom Single-Core .. . . . . . . . . . . . . . . . . . . . 16
4.1.2 MC6xx1 Dual-Core Atom . . . . . . . . . . . . . . . . . . . . . . 17
4.1.3 MC6xx5 Core i3 Dual-Core . . . . . . . . . . . . . . . . . . . . 17
4.2 Touch Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3 Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.5 Status display .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.6 Transportation, storage and operating environment . . . . . . . . . 20
4.7 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
5.1 MC6x0 - Control cabinet version . . . . . . . . . . . . . . . . . . . . . . . . 21
5.2 MC6x1 - Install touch panel version .. . . . . . . . . . . . . . . . . . . . . 22
6 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
6.1 Overview of terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

ID 442461.03 3WE KEEP THINGS MOVING
Table of contents
Manual MC6
6.2 Power supply .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.3 Housing ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.4 Serial RS-232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.5 CANopen .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.6 Ethernet .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.7 DVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.8 USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7 AS6 development environment . . . . . . . . . . . . . . . . . . . . .. . . .26
8 AS6 configuration .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .27
8.1 Integrating the MC6 in an AS6 project . . . . . . . . . . . . . . . . . . . 27
8.2 Integrating a drive controller into an AS6 project . . . . . . . . . . . 27
8.2.1 Settings in AS6 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
8.2.2 Settings in DriveControlSuite . . . . . . . . . . . . . . . . . . . 29
8.3 Check EtherCAT master settings . . . . . . . . . . . . . . . . . . . . . . . 30
8.3.1 The master cycle time is identical . . . . . . . . . . . . . . . 30
8.3.2 Master cycle time is a multiple . . . . . . . . . . . . . . . . . . 30
8.3.3 Principle of operation of the EtherCAT
synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
8.4 Setting up the SoftMotion encoder . . . . . . . . . . . . . . . . . . . . . . 32
8.5 Distributing computer power . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
8.6 Accessing status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
8.7 Triggering an event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
8.8 Working with persistent variables . . . . . . . . . . . . . . . . . . . . . . . 34
8.9 Setting up a connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
8.9.1 IP adress and subnet mask . . . . . . . . . . . . . . . . . . . . 35
8.9.2 Network name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.9.3 Remote connection . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.10 Saving changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8.11 Changing the resolution of the monitor display . . . . . . . . . . . . . 37
8.12 Installing the OPC server .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
9 Service .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
9.1 Memory card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
9.1.1 Insert memory card in MC6x00 and MC6x01 .. . . . . . 39
9.1.2 Insert memory card in MC6x10 and MC6x11 . . . . . . . 40
9.2 Data backup .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.3 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.4 Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
10 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

ID 442461.03 4WE KEEP THINGS MOVING
General instructions
1
Manual MC6
1 General instructions
Shorter cycle times and a higher level of precision mean ever increasing
requirements for drive technology.
Motion sequences are becoming faster and must be coordinated with each
other with high precision. The controller and drive technology are therefore the
key factors for the increase in productivity and flexibility.
A high-performance Motion Controller is the suitable requirement for a reliable
motion and function sequence for an increasing number of applications, a high
level of functional complexity or even for very demanding applications.
With the development of the MC6 Motion Controller, STOBER can offer
completely independent drive and Motion Control architecture from one
source.
Properties
• CODESYS programming environment for open Motion Control system
concepts
• Suitable for PLC solutions
• For complex interlinked processes with high positioning and adjustment
accuracy
• Track travel with the interpolation of several axes and robot functions
• Available as a switch cabinet PC or in combination with a touch panel
1.1 About this manual
This manual describes the Motion Controller MC6. It includes relevant
information on connections and installation as well as commissioning.
This manual is intended for specialists who are familiar with PLC and
CODESYS programming.
This documentation applies to the following devices:
• Motion Controller MC6 versions A, B or C as well as 
hardware version 0, 1 or 5
• CODESYS programming system version 3.5 or higher
Original version
The original version of this manual is in German.
What is new?
ID Index Date Changes
442461 00 04/2013 First edition
01 07/2013 General corrections
02 10/2014 • General corrections
• Additions
• Version B
• EtherCAT master settings
03 06/2015 • General corrections
• Additions
• Hardware version 1 with Dual Core
Atom
• Hardware version 5 with Core i3
Dual Core

ID 442461.03 5WE KEEP THINGS MOVING
General instructions
1
Manual MC6
1.2 Further documentation
The documentation listed in the following table provides relevant information on
the SD6 drive controller.
You can find the latest document versions at www.stoeber.de.
1.3 Further support
If you have technical questions that are not answered by this document, please
contact:
• Phone: [phone]
• E-mail: [e-mail]
If you have questions about the documentation, please contact:
• E-mail: [e-mail]
If you have questions about training sessions, please contact:
• E-mail: [e-mail]
1.4 Directives and norms
The MC6 Motion Controller meets the requirements of the following directives
and standards:
• Low Voltage Directive 2006/95/EC
• EMC Directive 2004/108/EC
You can obtain the Declaration of Conformity upon request from
[e-mail].
Device/Software Documentation Contents ID
SD6 drive controllers Manual System
environment,
technical data,
commissioning,
communication,
diagnosis
442426
EtherCAT EC6
communication module
Manual Technical data,
installation,
commissioning, data
transfer
442516
CANopen CA6
communication module
Manual Technical data,
installation,
commissioning, data
transfer
442637

ID 442461.03 6WE KEEP THINGS MOVING
General instructions
1
Manual MC6
1.5 Trademarks
The following names that are used in conjunction with the device, its optional
equipment and its accessories are trademarks or registered trademarks of
other companies:
All other trademarks that are not listed here are the property of their respective
owners.
Products that are registered as trademarks are not specially indicated in this
documentation. Existing property rights (patents, trademarks, protection of
utility models) are to be observed.
Trademarks
CANopen,
CiA
CANopen and CiA are registered Community trademarks
of CAN in Automation e.V., Nuremberg, Germany.
CODESYS CODESYS is a registered trademark of 3S-Smart
Software Solutions GmbH, Kempten, Germany.
EtherCAT EtherCAT and the EtherCAT logo are registered
trademarks of Beckhoff Automation GmbH, Verl,
Germany.
Intel, 
Intel Atom,
Intel Core
Intel, the Intel logo, Intel Atom and Intel Core are
registered trademarks of Intel Corporation or its
subsidiaries in the USA or other countries.
Microsoft,
Windows,
Windows XP,
WIndows 7
Microsoft, Windows, Windows XP and the Windows logo
are registered trademarks of Microsoft Corporation in the
USA and/or other countries.
PROFIBUS,
PROFINET
The PROFIBUS/PROFINET logo is a registered
trademark of PROFIBUS Nutzerorganisation e. V.
Karlsruhe, Germany.

ID 442461.03 7WE KEEP THINGS MOVING
Notes on safety
2
Manual MC6
2 Notes on safety
2.1 Operation in accordance with its intended
use
The Motion Controller MC6 is intended exclusively for automation in industrial
systems for use within the general conditions defined by the technical data.
Other applications are not permitted.
2.2 Component part of the product
The technical documentation is a component part of a product.
• Since the technical documentation contains important information, always
keep it handy in the vicinity of the device until the machine is disposed of.
• If the product is sold, disposed of, or rented out, always include the
technical documentation with the product.
2.3 Risk assessment
Before the manufacturer may bring a machine onto the market, he must
conduct a risk assessment according to Machine Directive 06/42/EC. As a
result, the risks associated with the use of the machine are determined. The
risk assessment is a multi-stage and iterative process. On no account can
sufficient insight into the Machine Directive be given as part of this
documentation. For this reason, seek detailed information about the norms and
legal position. When installing the drive controller in machines, commissioning
is forbidden until it has been determined that the machine meets the
requirements of EC Directive 06/42/EC.
2.4 Qualified personnel
Devices may cause residual risks. For this reason, all work on the devices as
well as operation and disposal must only be performed by qualified personnel
who are aware of the possible dangers.
Qualified personnel are persons who have acquired the authorisation to
perform these activities by
• Training from specialists and/or
• Instruction from specialists
In addition, they must have
• read,
• understood and
• observed the applicable regulations, legal provisions, rules and standards
and existing technical documentation including the safety information
contained in it.
2.5 System security
If the MC6 is connected with network access to the Internet, STOBER
recommends placing an industrial firewall in between. It is also advisable to
perform remote maintenance processes only via a secured VPN network. Anti-
virus software is not recommended on the MC6 in this situation, as it may affect
the real-time response in some circumstances.

ID 442461.03 8WE KEEP THINGS MOVING
Notes on safety
2
Manual MC6
2.6 Disposal
Please observe the current national and regional regulations! Dispose of the
individual parts separately depending on the quality and currently applicable
regulations, e.g. as
• Electronic waste (circuit boards)
• Plastic
• Sheet metal
• Copper
•Aluminum
•Battery
2.7 Presentation of notes on safety
NOTICE
Notice
means that property damage may occur
if the stated precautionary measures are not taken.
CAUTION!
Caution
with warning triangle means that minor injury may occur
if the stated precautionary measures are not taken.
WARNING!
Warning
means that there may be a serious danger of death
if the stated precautionary measures are not taken.
DANGER!
Danger
means that serious danger of death exists
if the stated precautionary measures are not taken.
Information
refers to important information about the product or serves to
emphasize a section in the documentation to which the reader
should pay special attention.

ID 442461.03 9WE KEEP THINGS MOVING
The Motion Controller MC6 ...
3
Manual MC6
3 The Motion Controller MC6 ...
The Motion Controller MC6 is the ideal requirement for a reliable, coordinated
motion and function sequence for an increasing number of applications, a high
level of functional complexity or even for very demanding applications.
The following figure shows one of the possible system environments for the
interaction of the MC6 and the SD6 drive controller.
Note that a SD6 drive controller can only be connected as a SoftMotion axis via
EtherCAT with the MC6.

ID 442461.03 10WE KEEP THINGS MOVING
The Motion Controller MC6 ...
3
Manual MC6
3.1 Nameplate 3.2 Type designation
Sample code
Explanation
Designation Value in the example Meaning
TYPE MC6B00CN Device type according to
type key
KT.NO. 56524 Purchased part number
S/N 8732562 Serial number
Input power supply 9–32 VDC
Power consumption max. 12 watts Power consumption
Protection class IP20
CODESYS V3.5 SP5 Version of the software in
memory at the time of
delivery
MC 6 A 0 0 C T
Code Designation Design
MC Series Motion Control
6Generation 6th generation
A, B, C Software version Version of the image
0Design As control cabinet PC
1 With touch panel
0...9 Hardware version 0: Atom Single-Core
1: Dual-Core Atom
5: Core i3 Dual-Core
N "Motion" software option Control
S SoftMotion
CSoftMotion CNC
N "Visualization" software option Without
TTarget visualization
W Web visualization
A Target visualization and web
visualization