KeMotion - the flexible control system for robotics and motion applications

Automation by innovation.

KeMotion

KEBA’s KeMotion r-series provides the complete functionality of a robot control integrated into one flexible control platform. KeMotion robot controls can be employed in the automation of simple handling systems as well as highly complex buckling arm applications or sophisticated multikinematics robot cells. KEBA offers the full range of turnkey system solutions for any performance category.

Tried and tested functions KEBA can draw on a wealth of experience in the development of hard- and software for control systems. Countless tried and tested functions are at our disposal serving the full bandwidth of kinematics. Technologies that so far were limited to highly specialized robots can now be utilized on smaller and cost-efficient systems.

Huge spectrum of available motion The KeMotion motion control ensures that any movement can be safely reproduced spanning from point-to-point positions right through to full path operations. The integrated collision monitor prevents unwanted down-times. The set of motion and technology instructions can be easily extended and customized to meet specific requirements.

2

Robotics controls for all applications

Swift and reliable start-up The teach-in system is easy to handle. Highly efficient programming and service tools ensure swift start-up and smooth operation of the robot. The entire teach-in operating concept is designed to facilitate any activity on the robot in the quickest time possible. Every function from programming, teaching, testing, changing, fitting or re-fitting can be implemented from either stationary or mobile operating devices.

Straightforward programming Pre-designed technology blocks and the interactive user guidance mean that virtually anyone can program the robot even without any previous programming skills. Field-proven sub-programs for referencing, palletizing, gripping etc. enable the user to write programs that are at once highly efficient and require hardly any maintenance. The robot’s periphery can be automated using the integrated PLC languages, which are standardized according to IEC 61131-3.

recovery function ensures that the motion sequence promptly continues at the very same position. The integrated user administration prevents unwarranted manipulations and thereby securing the necessary protection.

Handheld devices from the world’s market leader The handheld devices from our KeTop series combine excellent ergonomics (no edges or ridges, numerous fully-balanced grips and holding positions, low weight), exceptional sturdiness and state-of-the-art engineering with attractive design features. KeTop’s handheld terminals not only come with an intuitive touch operation, automatic language switching function but can also be tailor-made to meet individual customer needs.

High productivity level All robot programs can be optimized during operations if required. Changes to positions and parameters become immediately effective. If the program was interrupted, as in case of an Emergency Off, the error

3

KeMotion

Built from a large pool of available options the KeMotion controls integrate proven hard- and software components. This way even the smallest robot controls can be realized with embedded operating systems and optional visualization, the very same way as Windowsbased IPC-controls for multi-kinematics applications. Open hard- and software interfaces ensure optimal integration into the respective application environment.

OPC-server

Handheld terminal

optional Panel

KeMotion control systems are fitted with state-of-theart information technology from the PC-world. KeMotion is based on standardized operating systems and protocols such as Windows, VxWorks, JAVA, TCP/IP and USB. Our customers can reap all the benefits from the PC-world such as its openness, expandability and computer performance in an industrial setting.

Ethernet RS-485

optional - Sercos - Profibus

CPU

I/O CAN-1

I/O CAN-2

USB-Stick

Drives I/O-modules

4

PC-consistency from drive to visualization

The full range of fieldbuses The control supports all established fieldbuses such as CAN, Profibus, Ethernet or Sercos. Two CAN-circuits

An open system for all performance ranges

KeMotion r2100

KeMotion r4000

are used by default, whereby one bus serves the drives and the second is used for the connection of decentralized IO-modules. Another optional Profibus can be used to integrate the control into an operating cell, which is then be controlled by the main-PLC.

KeMotion r7000

Visualization via OPC Where a Windows-based visualization is to be used, the OPC-Server will provide access to the data and services of the control. Even multiple visualizations can be connected to the same control simultaneously.

Freely selectable drives KeMotion supports widest range of drives from a host of different manufacturers, with the only precondition being that they are operated with one of the supported fieldbuses. If Operating system required, even manufacturer-specific Real time operating system driver buses can be integrated into the Application memory control from the hardware- and the Data backup software side. Ethernet

Remote operation All key operations of the robot control, such as program selection, starting and stopping of programs can be executed either from the KeTop handheld terminal, from the optional panel or via remote operation. The data interface for remote operation thus enables operation, among other things, via OPC-server or Profibusinterface.

Serial interfaces Communication Control-server IO-modules Central IO-modules via CAN-Bus Drives via CAN-Bus via Sercos Fieldbuses CAN-Open Profibus DP Operator stations Handheld terminals Panels

KeMotion r2100

KeMotion r4000

VxWorks CF-card on USB drive TCP/IP-based protocols RS-232-C, RS-422-A, RS-485

KeMotion r7000 RTX / Windows CF, Hard disk

OPC-server, HTTP-server Digital and analog modules (K2-200) Digital and analog modules (K2-200) CANopen drives optional

–

–

optional


optional KeTop T30, KeTop T50, KeTop T100 optional OP 200, OP 250

5

KeMotion

The KeMotion motion control implements Cartesian, SCARA- and buckling-arm kinematics and optional auxiliary axes. It can be ideally adjusted to its respective operative purpose due to the configurability of the coordinates’ transformation, the number of axes, the acceleration behavior and work spaces. Special kinematics can also be integrated. Linear interpolation

The full spectrum of interpolation

Jerk-free acceleration

Handling tasks are taken care of with the synchronous point-to-point interpolation, which enables fastest manipulation of work-pieces. Cartesian interpolations make it possible to implement processing sequences on geometric paths when applying adhesive glues, varnishes or for deflashing, among others.

Intelligent look-ahead path planning If required, a foresighted motion planner will calculate the velocity and traversing behavior whilst simultaneously optimizing the performance of the drives. This way the quickest-possible motion cycles can be achieved without cumbersome optimization of the program. The look-ahead function will calculate the position points with the advance notice, thereby allowing exact compensation of the switching components’ dead-times.

Smooth movements gentle on the mechanics As the ramp forms can be parameterized they can guarantee movements that are gentle on the mechanics. Trapezoidal acceleration and deceleration ramps are used where cycle times have to be short. The sinusoidal ramps ensure that the motions are particularly smooth.

6

Swift and safe with every motion

Scalable collision monitoring Spaces can be programmed as workor excluded zones for the robot. Depending on the system’s performance capacity a target-point or path monitoring can also be defined. Whilst the target-point monitoring will simply identify programming errors before the start of a motion, the forward-looking path monitoring will halt the robot’s motion and thereby prevents a collision.

KeMotion r2100 Motion control Types of interpolation Number of axes type/max Multi-kinematics Overlapping Tracking Collision monitoring Trigger points Ramp forms Velocity override Reduced velocity Dynamic robot model

KeMotion r4000

KeMotion r7000

PTP, LIN, CIRC in world- and work-piece coordinates 3/5 5/8 7/32 –
with vmax with vmax, with vconst Axis tracking Axis tracking, Cartesian tracking Target point Path points with look-ahead Trapezoidal, sinusoidal adjustable in the range 0…100 % vmax reduced in manual mode (T1) –


The full range of coordinates’ systems

Precise line and rail tracking

A robot’s movements are executed according to axes-, world-, work-piece- or tool-coordinates. All of these different coordinate systems are required for an efficient teach-in and when relocating robot programs. A program written for work-piece coordinates can be executed unchanged from different locations on the factory floor.

The existing tracking functions enable gripping and processing of all types and kinds of moving objects. During Cartesian tracking the robot’s axes will compensate the movements of the work-piece. When axes-tracking, one of the robot’s axis will compensate the movements of the work-piece.

Backwards traversing on the path Any section of a path already traversed can be retraversed forwards or backwards in manual mode to quickly check and correct the teach-in points. This can be done without having to restart the program.

7

KeMotion

The KeMotion system constitutes not only a robot control but is also a complete PLC (programmable logic control) that is programmed in accordance with IEC 61131-3. This way control function are created in a familiar programming language and the PLC and robot functions are closed linked. You can take KeMotion either as robot control with integrated PLC or as PLC with integrated motion function, whichever way you want.

Easy communication The PLC can be used for example as main-PLC for control of the machine sequences. Robot programs can be uploaded, started and stopped from the PLCprogram via a pre-defined interface. If the robot control is integrated into a control network, the integrated PLC will communicate with the superior control.

KeMotion r2100 Integrated PLC Languages Cycle time Robot operating system Operating modes Manual traversing Error recovery Referencing Robot command set Programming instruction Function blocks PLCopen Motion Blocks Administrative functions Positioning Electronic gearing Cam group Technology library Control blocks Mathematic functions

8

KeMotion r4000

KeMotion r7000

IL, ST, LD, FBD, SFC >= 1ms, compiled cod manual and automatic mode with axis-, world-, work-piece- and tool coordinates continuation of the program after interruption for drives without absolute value transducers traversing commands, IO-commands, system commands for periphery, e.g. auxiliary axes, palletizing, gripping ... Power, Reset, ReadStatus, … MoveAbsolut, MoveRelative, MoveAdditive GearIn, GearInPos DigitalCamSwitch PID, filter, setpoint generator, characteristic curve ... vectors, matrixes, coordinates transformation, …

All-rounder with integrated PLC

Robot operating system

PLCopen Motion

Technology

Precise control

Adjustable sets of instructions

Due to the close connection with the PLC the functions of the robot control can be extended by performance. No matter whether you want to extend the control to the periphery of the robot or you want to extend the robot control with additional process functions, all events between the path control and the PLC can be exchanged swiftly and directly. This ensures spot-on synchronization of motion and process.

KeMotion robot controls are fitted with a set of instructions that were created within the application. Manufacturers wishing to develop specific features of the control can therefore adjust the set of instructions to optimally fit their applications.

Extendable robot operating system Key parts of the robot's operating system are available as pre-fabricated application modules and can be easily changed if required. There are many different opportunities to modify them, among other, by adjusting the operating modes, the manual traversing function or the program start.

PLCopen motion blocks Motion function blocks built according to PLCopen are available for the control of auxiliary axes. They cover positioning commands, electronic gearing and the cam group. The PLC-programmer can use the blocks of the motion in the familiar form out of the PLC as well as out of the programs of the robot control. With these blocks he can control all the axes of the robot.

Performance-orientated technology library The existence of technology blocks, such as controller blocks, setpoint generators or characteristic curves significantly improves and fastens the integration of the robot periphery. Every field of operation is covered by appropriate blocks. Thus, a corresponding arithmetic library can be used for position calculations in the robot program.

9

KeMotion

KeMotion’s programming environment, Kemro.studio, consists of a finely-tuned set of tools for operation as well as on- and offline-programming of the robot. It includes the teach-in system Kemro.teachview at the KeTop and Windows tools for the configuration and diagnosis of the control as well as for the creation and simulation of the robot and the PLC-program.

Teach-in programs are easily written The teach-in system Kemro.teachview has been optimized for robot programming, so that even users without any programming skills can quickly and easily create motion sequences. All the user has to do is to arrange the pre-defined technology instructions in the sequence required. Whilst doing so he can still switch freely between program creation and execution.

KeMotion r2100 Visualization Project engineering masks Alarm administration Setup masks Diagnosis Teach-in system Program creation Program administration Program processing Program manipulation Program test Windows tools Robot program editor PLC-editor Configurator & diagnosis Software oscilloscope

10

KeMotion r4000

KeMotion r7000

process masks created in application Showing and acknowledging of messages Time, user selection, language switching IO monitor, display of version at the handheld device with teach-in editor any number of programs (memory bound) Program execution, forward and backward Interrupt, continue, set instruction pointer Single-step mode, motion step Editor, debugger Editor, debugger for IL, ST, LD, FBD, SFC Machine parameter and diagnosis Signal representation of IO-signals and axis values

Easier to program - faster to produce

User-friendly robot handling

Well-structured configuration tool

Kemro.teachview visualizes the robot’s data, such as the program selected, the current position and operating mode and enables manual traversing of the axis. It also displays all the alarm and diagnosis data.

The entire hard- and software can be configured with the configuration- and diagnosis tool Kemro.manager. Among its many functions it can also be used for the selection of modules, the setting of drives or the assignment of I/O-signals of the application’s software’s variables. The service technician can access the diagnosis data of the control with this tool.

Kemro.teachview supports all standard robot operating modes such as automatic and set-up mode, for example. Longer paths are easily processed with the velocity-override function. The system can be positioned precisely during set-up mode. The integrated user administration simplifies handling by providing every user with exactly those operating functions relevant to his task.

Visualization with its own Look & Feel The visualization at the handheld device or panel can be individually extended. With the help of a visualization library user-friendly and end-user optimized screens are realized. These screen masks are programmed either directly in the application or in Java with Borland JBuilder.

Full offline-simulation As the control system is operative under Windows the complete control can be simulated at the PC. The user thereby has access to the full range of tools he would otherwise have at his disposal during operation of the real control. The software-oscilloscope Kemro.scope visualizes the robot’s movements in 2D- or 3Drepresentation. Thus, the simulations can be used for pre-planning, in the support of the developers or for demonstrations, tests and optimization of the finished machine. The virtual control can also be integrated into other offline-programming systems.

11

0A - A6 We reserve our rights of alteration. Data offered without guarantee. Our proprietary rights are reserved.

A: D: US: CN:

K E B A A G , G e w e r b e p a r k U r f a h r, A - 4 0 4 1 L i n z , P h o n e : + 4 3 7 3 2 7 0 9 0 - 0 , F a x : + 4 3 7 3 2 7 3 0 9 1 0 , E - M a i l : k e b a @ k e b a . c o m KEBA GmbH Automation, Leonhard-Weiss-Straße 40, D-73037 Göppingen, Phone: +49 7161 9741-0, Fax: +49 7161 9741-40, E-Mail: [email protected] KEBA Corp., 100 West Big Beaver Road, Troy, MI 48084, US, Phone: +1 248 526-0561, Fax: +1 248 526-0562, E-Mail: [email protected] KEBA Ltd., Unit 2107 Air China Plaza, Xiaoyun Road 36 #, Chaoyang District, Beijing, 100027, China, Phone: +86 10 8447-5861, Fax: +86 10 8447-5871, E-Mail: [email protected]

www.keba.com

Automation by innovation.