Your customized PLC motion control.

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Precision Drive Systems

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zub AG – your Swiss partner for innovation

zub machine control AG is one of the most successful and innovative companies in drive technology. With nearly 30 years of experience, zub machine control AG is your specialist for:

→ Single/multi-axis positioning→ Drive synchronization→ CAN and EtherCAT networking→ Standard & OEM solutions in drive technology

There is no drive challenge that can’t be solvedBenefit from our expertise in control solutions for state-of-the-art drive technology in devices, machinery, and systems. With our products, complex challenges like highly dynamic multi-axis positioning or synchronization can be solved in a cost-effective and efficient manner. Our use of the license-free APOSS motion control programming language provides the versa-tility required to adapt our controllers perfectly to your needs.

In addition to standard products, we also offer the development of OEM custom solutions in the field of control technology and power electronics, as well as consulting and engineering services. Cost-optimized solutions and application-specific custom functions offer competi-tive advantages to our customers.

With our high degree of technical competence, comprehensive application experience and our focus on drive technology, we guarantee outstanding expert advice. Benefit from an initial consultation with a joint brainstorming session. We are looking forward to working with you.

www.zub.ch

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Your application – our service

We develop and produce controller modules specifically for drive positioning and synchronizationMotion control modules are the smart link between the PLC or PC and the drive unit. With standard protocols and free programmability, maximum compatibility with no restrictions is possible for application-specific features.

Use the custom engineering services of zub AG to efficiently support your development teams.

Reduce your time to market, gain development security, and save real money by develop- ing with a partner who optimally supports you with products and services in the field of drive technology.

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Synchronization→ Cycle-synchronous addition of

components (e.g. newspaper inserts, CDs, stickers)

→ Position synchronization with marker correction, jerk suppre- sion, and signal filtering

Path control→ Detecting seam geometries for

automatic application of glue with portal robot

→ Potting and foaming→ Engraving and milling→ Adhesive and sealant application

Positioning→ Cost-effective end stop adjustment

in machines→ X/Y/Z positioning in laboratory

systems→ Workpiece/tool positioning

in machines→ High-precision, slip-free position-

ing of measuring heads through parallel signal processing of rotary encoders and glass linear scales

Labeling→ Synchronization of label feed and

product flow→ Cycle-synchronous feeding through

marker synchronization and online CAM profiling

Sawing→ Processing of products during

a running process→ Flying saw with flexible product

length through online calculation of CAM profile

Stage applications→ Time and path-synchronous

positioning→ Movement along freely definable

curves→ SIL 3 safety for scenery hoists,

platforms, and all other drives→ Safe speed, safe position, safe

CAM, safe brake tests …

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Ferag AG

Trifolion Echternach

Dosing→ Highly constant flow control in

pumps→ Flow control for analysis and

medical pumps→ Control/regulation of electronic

pipetting systems

Winding→ Electronic oscillating gearhead:

synchronization of routing with winding material speed

→ Shuttle control for constant material tension

Applications in roboticsDelta robotsHigh-precision micro assembly with miniaturized motors in micro-, nano-, and biotechnology.

Automated guided vehicles (AGV)Control of autonomous and mobile robots for service, transport, and logistics tasks; integration of safety sensors.

Multi-axis and autonomous lightweight robots (LWR)Cost-efficient and simple automation of manual tasks like loading machines, assembling devices, sorting small parts (torque/force control etc.), and measur-ing tasks. Collaborative robots (Cobot): Smart control solutions for professional human-machine interaction.

SSRR (Safety, Security & Rescue Robotics)Autonomous mobile robotic vehicles for monitoring of critical infrastructure, pipelines, for gas detection, and independent search for leaks.

Agricultural robotsOEM controllers incl. software modules like torque/force control, e.g. for automat-ed sowing, harvesting, fertilizer and crop chemical application, irrigation, etc.

Measuring devices→ Highly exact position control in

tool testing devices→ Absolute precision in the micro-

meter range→ Quick and efficient data capturing

for the tool positions

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Warehousing / consignment→ Shopping cart placement in high-

rack storage systems or automated cabinet systems (e.g. pharmacy)

→ Positioning with on-the-fly target adjustment

→ Jerk-limited start-up and brake ramps

→ Automated optimization of travel paths

Medical technology→ Analysis devices and lab handling

systems→ Pipetting and dosing→ Lab automation

Shuttles for high-rack storage systems→ Multi-axis control for shuttles in

high-rack storage systems→ Integration and evaluation of a wide

variety of sensors, such as safety and proximity sensors

→ Integration of various communica-tion interfaces into the control system (EtherCAT, ProfiNET, etc.)

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APOSTORE GmbH

zub standards

Industry-proven hardware modules, comprehensive APOSS®-win automation software, and application- specific custom functions.

→ Freely programmable: Standard protocols and free programmability.→ Integrated developer tools: Tools for start-up, controller optimization, and debugging

are built in.→ Application library: Ready-made standard solutions for various machine types.→ Motion control library: Library for integration on single- and multi-process platforms: – Hardware: PC, 16-/32-bit µC, DSP – Multi-processor support – TwinCAT3 profile generator – Support for diverse operating systems; also usable without an operating system – Motor technologies: Servo, step, and asynchronous motors – Interrupt sources: I/O, bus, timer, position, error – Interface support: CAN, USB, EtherCAT, Ethernet, RS232, RS485→ Motion control functions: Positioning, speed, position and marker synchronization,

CAM profiling, path control, jerk suppression, current control, torque control, support of different kinematics, coordinate transformation.

→ Interactive graphic editors: CAM, array and path editor.→ Debugging & optimization: Smart oscilloscope and integrated graphic cam editor.→ State machine support: APOSS® supports the automatic processing of hierarchical

state machines.

Motion control libraryLicense-free and integrated for all zub controllers. Licensed for use in controllers of third-party vendors or other proprietary controllers.

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Engineering services

→ OEM solutions: Cost-optimized drive controllers with and without integrated power stages for specific application cases that require 500 or more units. OEM solutions are based on industry-proven hardware and software modules that are adapted for specific requirements.

→ Application development: Development of customer-specific solutions precisely adapted to the application. Project support from the preliminary study up to the final application solution, including start-up.

→ Hardware designs: Exclusive customer-specific hard-ware designs; expansion of the comprehensive basic functionality where required.

→ Fast prototyping: Made possible by the use of existing components. This also reduces development time and risk.

→ Services: Support during all stages of your development project, from the preliminary study all the way to mass production, by experienced SW and HW developers. Short decision-making paths, speed, and flexibility. Initial tests possible within a few days.

Development of customer-specific control and application solutions for mass production: Favorably priced and effective solutions in a very short time.

Example

Initial situation: A company had been working with an in-house positioning controller for years. Due to a dis-continuation of electronic components, it was no longer possible to produce this controller. The company was facing the challenge of finding a new solution quickly. Developing a new in-house controller did not make busi-ness sense. At the same time, it was necessary to keep existing systems running.

zub solution: A functional model that met the requested performance criteria was created within two days, using a MACS5 as the basis. After the demo model was used successfully, zub was able to realize a complete solution within only two weeks!

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MasterMACSThis product in the MACS series is a high-performance motion control module for control-ling intelligent drives and synchronizing multiple axes. Typical fields of application include tasks that involve the synchronization of many axes with precision and high speed. With its fast reaction times (positioning control cycle as short as 100 µs), the high-performance MasterMACS offers the ideal prerequisites for this. The maximum number of axes de-pends on the complexity and the required update frequency of the drives. An example: Even with 32 axes, high complexity, and jerk suppression, an update frequency of 3 kHz is still possible.

SummaryHigh-performance motion control module for controlling smart drives and synchronization of up to 32 axes.

Number of axes: up to 32 Motion control functions:Positioning, synchronization, CAM profiling, path control Interfaces:USB, Ethernet, RS232, RS485, EtherCAT slave, EtherCAT master, 2 x CANOn request: PowerLink, Profibus, ProfiNet

Variants:→ Aluminum DIN profile housing for hat rail mounting→ Compact metal housing for rear panel installation

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MiniMACSThe controller positions and synchronizes drives with the familiar precision and efficiency. In terms of flexibility and functionality, the MiniMACS is equivalent to the MACS5 series. The low-cost device has been developed for easy applications and is therefore the best choice for 1- to 3-axis solutions for X/Y/Z positioning, shopping cart solutions for storage or consignment, synchronous supply for feeding, or electronic changing for winding.

Low price, full performance

You can find additional application stories at www.zub.ch

SummaryLow-cost controller for positioning and synchronizationof 1 to 3 axes.

Number of axes: 1 to 3 Motion control functions:→ Speed control and positioning with linear or S-ramps,

or jerk suppression→ Speed, positioning (angle) and CAM synchronization

with/without marker correction Interfaces:USB, Ethernet TCP/IP, CAN-Bus

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MACS5-AMP1The MACS5-AMP1 was developed as a highly integrated multi-axis controller for cost- effective positioning of actuator drives, tool and workpiece feeds, as well as robot axes. The MACS5-AMP1 integrates a state-of-the-art motion controller with encoder inputs and servo power stages (max. 50 V, 2 A continuous current and 10 A peak current) in a compact housing. The MACS5-AMP1 provides connections for up to six brushed or four brushless motors with incremental or absolute encoders, glass linear scales, or analog potentiometer feedback.

Summary6-axis motion controllers with integrated power stagesup to 10 A for brushed and brushless motors.

Number of axes: 1 to 6 Motion control functions:Positioning, synchronization, CAM profiling

Integrated amplifier:6 x DC (Inom = 2 A, Ipeak = 10 A) or 4 x EC or 3 stepper motors or mixed operation Interfaces:USB, Ethernet, RS232, 2 x CANOptional: EtherCAT slave, EtherCAT master

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Summary6-axis motion controllers with integrated power stagesup to 30 A for brushed and brushless motors.

Number of axes: 1 to 6 Motion control functions:Positioning, synchronization, CAM profiling

Integrated amplifier:6 x DC (Inom = 10 A, Ipeak = 30 A) or 4 x EC or 3 stepper motors or mixed operation

Interfaces:USB, Ethernet, RS232Optional: EtherCAT slave, EtherCAT master

MACS5-AMP2 The MACS5-AMP2 combines a state-of-the art motion control unit with a high-end power stage in a compact housing. Each of the integrated power stages offers up to 400 W continuous power or 1.5 kW peak power for the direct control of high-performance drives. The MACS5-AMP2 is able to move up to six brushed or four brushless motors cost-effec-tively, dynamically, and precisely. For positioning control, encoder inputs are integrated that allow for the direct connection of incremental or absolute encoders or glass linear scales. The inputs for sensors and actuators for process monitoring and control are also integrated.

You can find additional application stories at www.zub.ch 13

MACS5-AMP3The MACS5-AMP3 was developed as a highly integrated multi-axis controller for costeffectivepositioning of actuator drives, tool and workpiece feeds, as well as robot axes. In comparison to the MACS5-AMP1 the MACS5-AMP3 supports less axes at higher continuous current and even lower costs in a compact housing (4 A continuous current and 8 A peak current). The MACS5-AMP3 provides connections for up to three brushed or two brushless motors with incremental or absolute encoders, glass linear scales, or analog potentiometer feedback.

Summary3-axis motion controller with integrated power stages for brushed and brushless motors.

Number of axes: 1 to 3 Motion control functions:Positioning, synchronization, CAM profiling

Integrated amplifier:3 x DC or 2 x EC or 1 stepper motor, or mixed operation Interfaces:USB, CAN, EthernetOn request: EtherCAT

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SummaryMulti-axis motion controller usable as a standalone or with a PLC/PC for servo amplifiers and frequency converters.

Number of axes: 1 to 6 (MACS5-Compact: 1 to 3) Motion control functions:Positioning, synchronization, CAM profiling Interfaces:USB, Ethernet, RS232Optional: EtherCAT slave, EtherCAT master

MACS5 and MACS5-CompactEach MACS5 module autonomously controls the complex and highly dynamic positioning and synchronization of up to six axes of servo and asynchronous motors. Interfaces for incremen-tal, SinCos, and SSI encoders, as well as high-speed latching inputs are already integrated. The free programmability enables precise adaptation to specific requirements of machines and devices, or flexible expansion of the DS402 functionality. A single MACS5 module is able to control small devices with full autonomy.

You can find additional application stories at www.zub.ch 15

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zub machine control AGBuzibachstrasse 316023 RothenburgSwiterlandPhone +41 41 541 50 40Fax +41 41 541 50 49info@zub.chwww.zub.ch

Precision Drive Systems