English
CODESYS® Motion + CNC
© VELTRU AG
Logic and motion control integrated in one IEC 61131-3 system:
Development kit for convenient engineering of motion, CNC and
robot applications
CODESYS® Inspiring Automation Solutions 2
CODESYS Motion + CNC
CODESYS, a product from 3S-Smart Software Solutions, is the established market standard for programming
IEC 61131-3 compliant industrial controllers. Thousands of different standard and special-purpose machines
for manufacturing engineering are automated with CODESYS, as well as other industrially controlled applica-
tions in a wide range of different industries.
Numerous machines and plants require a versatile controller for motion sequences in addition to the logic program. Thanks
to the high performance of modern processor platforms, motion control, CNC, and robotics tasks can be processed on the
same devices as the logic control. With the open architecture of CODESYS, it is possible to link and even integrate external
engineering tools for motion planning and control.
CODESYS Motion + CNC makes it easier.
Manufacturers of automation devices can integrate CODESYS SoftMotion and CODESYS SoftMotion CNC+Robotics into
the CODESYS platform. In this way, the logic controller takes on the role of a motion controller with all of the required
components, such as motion editors, kinematic transformations, standardized function blocks for robotics functions,
and the CNC kernel.
Application developers benefit in two ways.
Only a single hardware device is required for logic and motion control, and both application components can be engineered
with one and the same development system. The consistent operating structure makes the engineering of motion tasks
significantly easier and more flexible as compared to conventional systems.
CODESYS Motion + CNC
From single-axis motion to multi-dimensional CNC
path interpolation and robot control – with CODESYS
Motion + CNC, users can implement various motion
control tasks for the logic controller in the familiar
development interface.
CODESYS Motion + CNC provides motion functionality
in the form of a development kit in the PLC development
system. This can be used for resolving any complex task
with the IEC 61131-3 language tools.
3 CODESYS Motion + CNC
Ideal platform for motion control – from an experienced partner
CODESYS provides all core properties for Motion + CNC:
Integrated library design Dynamic and easy linking Easy integration of additional configuration and planning
of motion functions depending on the application tools from the device manufacturer thanks to plug-ins,
e.g. for motion editors or specific drives Full integration
Integrated compilers for various processor platforms of all engineering components
Cross-system deployment of products without any
need for customization Integrated visualization facilitates simulation, testing,
and commissioning No additional components required
Integrated fieldbus support Configuration of the
employed drives and I/O components
Motion engineering abstracted from drive and bus
systems and based on the IEC 61131-3 data structure
Ideal for simulation, testing, commissioning, and
machine refitting
3S-Smart Software Solutions is an experienced motion partner.
The makers of CODESYS have over 15 years of experience in software development for coordinated motion control. Expert
motion specialists from the departments of product management, development, testing, support, and training pass on
their knowledge and experience to customers.
© depositphotos.com | RainerPlendl
CODESYS® Inspiring Automation Solutions 4
Overview on CODESYS Motion + CNC
CODESYS Development System CODESYS Visualization (optional)
Programming the logic controller (IEC 61131-3) Commissioning functions
Motion planning with graphical editors Machine visualization
Motion control using IEC 61131-3 function blocks CNC operation
Engineering of optional machine visualization and Diagnostics
diagnostics
IEC 61131-3- HMI- / Panel Control
Programming PC
CODESYS Runtime CODESYS Fieldbus
Processing of logic and Portable protocol stacks implement
motion control communication with CANopen, EtherCAT,
Communication with I/O and Sercos
and drive systems Motion Fieldbus-specific configurators for system
Deployment of debugging Controller / CNC and drive configuration
features
I/Os Servo drives Stepper drives Frequency converters Robotics axis groups
5 CODESYS Motion + CNC
Available control methods
For servo drives For stepper drives For frequency converters For robotics axis groups
Motion controller delivers Motion controller Motion controller Motion controller
trajectory bases to servo controls stepper drives via specifies the expected delivers target points and
drive in cycles pulse / direction interface rotational speed of the constraints for the axis
Drive control by servo Pulse counter reports frequency converter dynamics to the axis
drive position to motion Sensors, such as rotary group servo drive
controller encoders, report the Drive control by servo
Position control in the position drive
motion controller Position control in the
motion controller
Structure of CODESYS Motion + CNC
CODESYS Motion + CNC is seamlessly integrated into the CODESYS Development System as a development kit and
thus benefits from the available functions of the platform. Movement is processed in the controller within the context of
CODESYS Control (IEC 61131-3 runtime system).
Components included in the development kit:
Editors / configurators for motion planning (cams, CNC, robotics axis groups)
Extensive library with IEC 61131-3 POUs for implementing motion and for help functions
Corresponding visualization templates for simplified engineering and commissioning
Support for the most widely used fieldbus systems
Generic CiA 402 and special drivers for the most popular servo drives, e.g. from Schneider Electric Automation GmbH,
KEB Karl E. Brinkmann GmbH, Bosch Rexroth AG, Control Techniques Ltd., Festo AG & Co. KG, and STÖBER ANTRIEBS-
TECHNIK GmbH & Co. KG (complete list at codesys.com).
Samples and documentation for creating motion applications
Drive configuration Cam editor CNC editor Axis group
Development
environment
design
Motion
configuration
SM3_Basic.library SM3_CNC.library SM3_Robotics.library
execution
Motion
(DriveInterface, PLCopen MC, (CNC, kinematics) (PLCopen MC part 4)
additional motion FBs)
user application
IEC 61131-3
Drive interface
Drive specific driver (library) Position Virtual axis
closed loop
Standard drivers (CAN / ETC / ...)
connection
Machine
Runtime
system
CODESYS standard I/O image
CANopen EtherCAT Local I/Os ...
CODESYS® Inspiring Automation Solutions 6
Using CODESYS Motion + CNC
Configuration and commissioning of drives
Adding the necessary bus system to the CODESYS project: support of CANopen, EtherCAT, and Sercos, as well
as standard systems, such as stepper drives and drives with analog control; more upon request
Adding the required drives
The device name represents implicitly provided IEC data structure with abstracted data for each drive, allowing
smooth exchange of drives and drive buses.
Drive commissioning with integrated "Online Config Mode"
Configuration of the bus-specific and drive-specific parameters via the object directory of the devices
The fieldbus and I/O configurators integrated in CODESYS allow for a clear In online mode, the configurators provide valuable information,
configuration of supported drives. such as status, operating mode, and current parameter values.
Commissioning of the motion application on the motion controller
Compiling, downloading, and executing the application
Additional tools:
-- Visualization templates for POUs allow for easy online operation and parameterization.
-- CODESYS Depictor objects allow for easy 3D visualization of motion in the CODESYS Development System by means
of the actual control application.
Commissioning of the motion application by means of the CODESYS Development System – The motion program runs
as subtask of the controller.
© STÖBER ANTRIEBSTECHNIK GmbH & Co. KG
© Schneider Electric Automation GmbH
© Parker Hannifin Manufacturing
Germany GmbH & Co. KG
7 CODESYS Motion + CNC
Motion planning and execution
Calling of POUs according to PLCopen for MotionControl for motion control in CODESYS projects
(e.g. MC_Power, SMC_GroupPower, MC_MoveAbsolute, MC_MoveVelocity, and MC_MoveDirectAbsolute)
POU parameters are IEC 61131-3 variables that can be changed during runtime
(e.g. by the logic application, sensor values, or user input from the user interface).
Optional call of included add-on POUs (e.g. for diagnostics or error handling)
Convenient motion planning of cams, CNC movements, and robotics axis groups with special editors / configurators.
Information about CODESYS SoftMotion and CODESYS SoftMotion CNC+Robotics begin on page 8.
Thanks to the function library for PLCopen for Motion Part 4, the programming of robot tasks is possible with just a few block calls.
Selected references for CODESYS Motion + CNC
ASYS Automatisierungssysteme GmbH Kendrion Kuhnke Automation GmbH
Baumann GmbH MITSUBISHI ELECTRIC EUROPE B.V.
Bosch Packaging Technology B.V. Parker Hannifin Manufacturing
Festo AG & Co. KG Germany GmbH & Co. KG
Grossenbacher Systeme AG ROFIN-BAASEL Lasertech GmbH & Co. KG
KEBA AG Schneider Electric Automation GmbH
KEB Karl E. Brinkmann GmbH STÖBER ANTRIEBSTECHNIK GmbH & Co. KG
Lenord, Bauer & Co. GmbH Trumpf-Laser GmbH + Co. KG
CODESYS® Inspiring Automation Solutions 8
CODESYS Motion + CNC – Available products
CODESYS SoftMotion:
For single-axis and coordinated multiple-axis traversing motion (e.g. master / slave functions and cams):
Use of available library POUs and programming of motion functions
Any interconnection of the function possible within the logic application
Graphical planning of cam functions by means of integrated cam editor
Numerous POU-specific visualization templates for easy commissioning with the CODESYS Development System
Additional visualization templates for online editing of cams in runtime mode with the optional products
CODESYS HMI, CODESYS TargetVisu, and CODESYS WebVisu
Motion planning with integrated cam editor in CODESYS SoftMotion Convenient definition of CNC curves with integrated graphical 3D editor
and associated G code (according to DIN 66025)
CODESYS SoftMotion CNC+Robotics:
Includes the complete functionality of CODESYS SoftMotion, as well as additional functions for coordinated motion control.
For CNC motion with multiple coordinated axes and precisely defined motion path:
CNC motion planning in the integrated DIN 66025 editor with graphical 3D display
-- Step-by-step by means of an extensive set of G code motion commands (e.g. line, circle, spline)
-- By data input in a tabular editor
-- Graphically in the 3D editor with numeric post-editing of the G code
-- By reading existing G code files in ASCII format
-- By importing DXF files for automated generation of matching G code
Support of different speed profiles: Trapezoidal, sigmoidal, quadratic (jerk-limited, S profile)
Definition of necessary path velocity (feed) and limits for acceleration, deceleration, and jerk
POUs for limiting the dynamics of spatial and additional axes
Processing of CNC motion by POUs
Numerous additional functions, such as tool radius compensation, edge smoothing, and limited curve velocity ▶
9 CODESYS Motion + CNC
Creation of customized POUs by means of IEC 61131-3 for own functions (e.g. application-specific angle rounding for
laser cutting)
Decoder and interpolator as portable IEC 61131-3 library POUs
Numerous kinematic transformations for different task areas (e.g. gantry systems and robots)
Visualization templates for online editing of CNC projects in runtime mode, as well as for diagnostics and testing
of kinematics with optional products (e.g. CODESYS HMI, CODESYS TargetVisu, and CODESYS WebVisu)
For robotics applications with PTP (point-to-point) or CP (continuous path) interpolation:
Parameterization of axis groups for predefined kinematics in a convenient configurator
Integrated motion planning with coordinate values for robot positions in different coordinate systems
Function library with program blocks according to PLCopen for MotionControl Part 4, such as SMC_GroupPower,
MC_GroupEnable/Disable/Reset/ReadError, MC_MoveDirectAbsolute, MC_MoveLinearAbsoulte,
MC_MoveCircularAbsolute, MC_GroupHalt, MC_GroupStop, MC_TrackConveyorBelt, and MC_TrackRotaryTable
Numerous supported kinematics with convenient configuration, for example various gantry robots (2 / 3 / 5 axes),
bipod / tripod robots, and SCARA robots
Additional tool kinematics
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The integrated axis group configurator allows for
easy parameterization of different types of robot
kinematics.
CODESYS® Inspiring Automation Solutions 10
CODESYS Motion + CNC
– Turning intelligent devices into motion controllers
PC-based motion controller
Requirements
Suitable industrial PC with Microsoft Windows 7 / 8 / 10
Fieldbus interface for drive actuation (CAN or Sercos) or available Ethernet port (EtherCAT)
Real-time capable SoftPLC with motion control
CODESYS Control SoftMotion RTE SL for IPCs (available in the CODESYS Store at codesys.store)
License purchase and single licensing by means of software or USB security key per PC-based motion controller
Options: Additional licenses for
CODESYS SoftMotion CNC+Robotics
CODESYS TargetVisu: Visualization on the motion controller
CODESYS WebVisu: Monitoring and diagnostics by means of HTML5 web browser
Motion controllers – also integrated in mechatronic controllers and intelligent drives
Requirements
Real-time capable system
Hardware with appropriate performance resources depending on planned use
FPU recommended
Appropriate communication links to drives and standard fieldbuses (CANopen, EtherCAT, Sercos)
Business model
Purchase of the CODESYS Control Runtime Toolkit
Implementation of the runtime system for CODESYS SoftMotion or CODESYS SoftMotion CNC+Robotics with
complete motion kit for distributing the motion controller to the end user
Optional purchase of the relevant fieldbus support
Purchase of runtime licenses for CODESYS SoftMotion or CODESYS SoftMotion CNC+Robotics for each delivered
motion controller; price dependent on quantity and device platform
High-performance manufacturing
machine for loading and completion of
industrial filter systems – automated by
DOR Engineering on PC-based controllers
with CODESYS Motion + CNC
© DOR Engineering
11 CODESYS Motion + CNC
Typical use cases for CODESYS Motion + CNC
CNC application
Use of the CNC editor
Jogging the axes with PLCopen blocks
Gantry kinematics with stepper drives
Pick & Place application
Use of PLCopen blocks for positioning (tool plate) and for belt-synchronous placement of an object on a moving target.
Depiction of the process with visualization templates
Tripod robots and palletizing robots
Robot kinematics (transformation and parameterization)
3D visualization with CODESYS Depictor in the CODESYS Development System
Configuration of the axis group with the integrated configurator
Labeling / cam application
Use of cam editor
PLCopen POUs and virtual axis as master shaft
Use of touch probe / latching function
CODESYS Motion + CNC – Benefits at a glance
Versatile motion planning:
-- Motion control via status of the logic application and vice-versa, simple scaling of trajectories.
-- Control of trajectories and motion from the optional visualization
CNC and robotics programming regardless of the kinematics:
Change of kinematics by intuitively parameterizable objects in the device tree and library POUs.
Generic implementation of robotics applications with axis group configurator and PLCopen
for MotionControl Part 4 function blocks
No fixed restrictions: Limitation of number of axes or update rate only by available computing power,
employed fieldbus, and available memory
Motion programming regardless of drive: Change of drives without a software change
Portable to different platforms:
-- Libraries and application created in IEC 61131-3 languages
-- CODESYS compiles motion program for the respective target system
Integration in the CODESYS Development System:
-- One hardware and interface for logic application, motion application, and visualization
-- Consistent engineering as well as cost-efficient implementation
3S-Smart Software Solutions GmbH
Memminger Str. 151
87439 Kempten, Germany
Tel.: +49-831-54031-0
Fax: +49-831-54031-50
[email protected] codesys.com
Branch Offices:
CODESYS Italia Srl
Via Vittoria Colonna 50, 20149 Milan, Italy
CODESYS Software System (Beijing) Co., Ltd.
100025 Beijing P.R.C., China
10/2016
CODESYS – the manufacturer-independent
IEC 61131-3 automation software.
CODESYS Product Families:
CODESYS® is a registered trademark
of 3S-Smart Software Solutions GmbH.
Technical specifications are subject to change. Errors
and omissions excepted. No reproduction or distri-
bution, in whole or in part, without prior permission.
Note: Not all CODESYS features are available in all
territories. For more information on geographic
restrictions, please contact
[email protected]. Inspiring Automation Solutions
